A virtual track device for magnetic levitation vehicle track coupling vibration test

Abstract

A kind of virtual track device for magnetic levitation vehicle track coupling vibration test, including elastic support mechanism, track, vertical sliding support mechanism, electromagnet, monitoring mechanism and electromagnetic drive mechanism;Elastic support mechanism is connected on the workpiece mounting surface of the top and bottom of frame;Track is laid in the middle of frame by elastic support mechanism;Vertical sliding support mechanism includes sliding assembly vertically connected in the middle of frame and support arm mounted on sliding assembly;Electromagnet is suspended below track by support arm;Monitoring mechanism includes first gap sensor mounted on electromagnet, first accelerometer, second gap sensor mounted on the top of frame and second accelerometer mounted on track;Electromagnetic drive mechanism is installed on the bottom of frame.The invention drives the track supported by spring to move in vertical direction by electromagnetic actuator, to simulate the movement of bridge along vertical direction driven by electromagnetic force in virtual setting, to investigate the suspension stability of electromagnet under this working condition.

Description

Technical Field

[0001] This invention relates to the field of magnetic levitation transportation technology, and in particular to a virtual track device for magnetic levitation vehicle-track coupled vibration testing. Background Technology

[0002] The vehicle-bridge coupled self-excited vibration problem is a common abnormal operating condition in electromagnetic attraction-type maglev transportation, representing a manifestation of instability in the suspension control system. Its root cause is the instability resulting from the coupling between the elastic deformation of the bridge and the electromagnetic force regulation characteristics of the maglev train's suspension control system. This vehicle-bridge coupled self-excited vibration problem can lead to significant oscillations in both the suspension control system and the bridge, causing a series of problems such as suspension failure and electromagnets colliding with the track. Furthermore, it severely restricts the development of lightweight maglev bridges, thus limiting the cost reduction of maglev transportation bridges. Actual maglev bridges are large in size and weight, and once the track design is completed, the bridge parameters are often fixed. Tests on maglev vehicle-bridge coupled vibration are usually limited to a few bridges with fixed parameters, and conducting full-scale vehicle-bridge coupled vibration tests is constrained by infrastructure conditions. Therefore, conducting equivalent tests on small-scale vehicle-track coupled systems has become another important means of verifying the theory of vehicle-bridge coupled vibration and the stability of the suspension control algorithm under elastic track conditions. Summary of the Invention

[0003] This invention provides a virtual track device for magnetic levitation vehicle track coupling vibration test to solve the technical problems mentioned in the background art.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0005] This invention provides a virtual track device for magnetic levitation vehicle-track coupled vibration testing, comprising:

[0006] The frame has workpiece mounting surfaces at both the top and bottom.

[0007] A flexible support mechanism is connected to the workpiece mounting surfaces at the top and bottom of the frame;

[0008] The track is laid laterally in the middle of the frame through an elastic support mechanism;

[0009] A vertical sliding support mechanism includes a sliding component vertically connected to the middle of the frame and a support arm mounted on the sliding part of the sliding component;

[0010] The electromagnet is suspended below the track by a support arm;

[0011] The monitoring mechanism includes a first gap sensor mounted on an electromagnet, a first accelerometer, a second gap sensor mounted on the top of the frame, and a second accelerometer mounted on the track;

[0012] An electromagnetic driving mechanism is installed on the mounting surface of the bottom of the frame, and is used to drive the track to move in the vertical direction according to the output signal of the monitoring mechanism.

[0013] Further, the frame comprises a base, two columns and an upper cover plate.

[0014] The two columns are both installed on the top surface of the base and are respectively located on the left and right sides of the base, and the upper cover plate is erected above the base through the two columns.

[0015] Further, the virtual track device further comprises two track constraint blocks which are installed on the two columns in a vertically adjustable manner, and are used to limit the height of the track.

[0016] Further, the elastic supporting mechanism comprises:

[0017] Two screw rods, a first spring, a second spring, a third spring and a fourth spring, the two screw rods are respectively vertically installed on the left and right sides of the inside of the frame, the first spring and the second spring are sleeved on the left screw rod in an adjustable manner, and the third spring and the fourth spring are sleeved on the right screw rod in an adjustable manner; the left side of the track abuts between the first spring and the second spring, and the right side abuts between the third spring and the fourth spring.

[0018] Further, the elastic supporting mechanism comprises a fifth spring and a sixth spring which are respectively located on the left and right sides of the frame and abut between the inner top surface of the frame and the track.

[0019] Further, the track comprises a section steel and an inverted U-shaped magnetic guide rail connected below the section steel, the inverted U-shaped magnetic guide rail is made of a magnetic material, including but not limited to A3 steel, Q235 steel or other soft magnetic materials with high magnetic permeability.

[0020] Further, the sliding assembly comprises:

[0021] A linear guide rail is fixedly connected to the middle part of the frame in the vertical direction.

[0022] An upper sliding block is slidingly connected to the linear guide rail and connected to the track, and is used to constrain the track to move only in the vertical direction.

[0023] A lower sliding block is fixedly connected to the electromagnet and is used to constrain the electromagnet to move along the linear guide rail in the vertical direction. A supporting arm is fixedly connected to the electromagnet, and when the electromagnet is not levitated, the weight of the electromagnet is applied to a supporting rod on the top of the supporting arm through the supporting arm, and the supporting rod is supported on the track through a rubber pad. When the electromagnet is levitated, the height of the supporting arm rises, so that the rubber pad is separated from the track, thereby separating the electromagnet from the track. The height of the supporting rod on the top of the supporting arm can be adjusted through a bolt, thereby limiting the distance between the electromagnet and the track in the non-levitated state.

[0024] Further, the electromagnetic driving mechanism comprises:

[0025] Two electromagnetic actuators, respectively installed on the left and right sides of the bottom of the frame;

[0026] Two top rods, the bottom of which is connected to the movable end of the two electromagnetic actuators, and the top of which is connected to the track through butterfly nuts. By adjusting the relative position of the butterfly nut on the top rod, the static height of the track can be adapted. Because the spring stiffness is different, the deformation of the spring under the action of gravity is different, resulting in different initial static heights of the track.

[0027] A suspension controller, electrically connected with the first gap sensor, the first accelerometer and the electromagnet, for adjusting the suspension current of the electromagnet in real time according to the output signals of the first gap sensor and the first accelerometer;

[0028] A virtual bridge controller, electrically connected with the electromagnet, the monitoring mechanism and the two electromagnetic actuators, for calculating the driving current of the two electromagnetic actuators according to the electromagnetic force signal of the electromagnet and the output signal of the monitoring mechanism.

[0029] Further, the virtual track device further comprises two sets of weights installed on the left and right sides of the track, so as to adjust the natural frequency of the track by adjusting the weight of the weight.

[0030] The beneficial effects of the present application are:

[0031] The present application drives the track supported by the spring in the vertical direction by the two electromagnetic actuators, so as to simulate the vertical movement of the virtual bridge driven by the electromagnetic force, and further to investigate the suspension stability of the electromagnet under this working condition.

[0032] In addition, the present application can arbitrarily set the equivalent mass, stiffness, damping and other characteristics of the virtual bridge within a certain range, and investigate the control stability of the suspension control algorithm under this set of bridge parameters. When performing the test, the vertical displacement generated by the electromagnetic force acting on the virtually set bridge can be simulated by driving the track supported by the spring by the electromagnetic actuator under the driving of the control algorithm, and further to investigate the suspension stability of the electromagnet under this working condition. The present application can be used for vehicle-track coupling vibration test of magnetic levitation train, and can be used for investigating the vehicle-bridge coupling vibration of the magnetic levitation train under different bridge parameters, and can also be used for developing the effectiveness test of the vehicle-bridge coupling vibration control algorithm. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0034] Figure 2 It is a three-dimensional structure schematic diagram of the front direction of the present application;

[0035] Figure 3 Fig. 1 is a schematic view of a three-dimensional structure of a rear view direction of the present application;

[0036] Figure 4 Fig. 4 is a control block diagram of the present application.

[0037] Reference numerals:

[0038] 1, frame; 11, base; 12, upright; 13, upper cover plate;

[0039] 2, elastic support mechanism; 21, screw rod; 22, first spring; 23, second spring; 24, third spring; 25, fourth spring; 26, fifth spring; 27, sixth spring;

[0040] 3, track;

[0041] 4, vertical sliding support mechanism; 41, sliding assembly; 411, linear guide rail; 412, upper sliding block; 413, lower sliding block; 42, supporting arm;

[0042] 5, electromagnet;

[0043] 6, monitoring mechanism; 61, first gap sensor; 62, first accelerometer; 63, second gap sensor; 64, second accelerometer;

[0044] 7, electromagnetic driving mechanism; 71, electromagnetic actuator; 72, jacking rod;

[0045] 8, track constraint block;

[0046] 9, weight. DETAILED DESCRIPTION

[0047] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. In the drawings, preferred embodiments of the present application are shown. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present application can be more thoroughly and completely understood.

[0048] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0049] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate directions or positions based on the directions or positions shown in the drawings and are used for convenience in describing the present application and simplifying the description, and thus cannot be construed as indicating or implying that a device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus cannot be understood as limiting the present application.

[0050] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, features defined with "first", "second", etc. can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0052] It should also be noted that the same reference signs are used in the embodiments of the present application to represent the same component or the same part, and for the same parts in the embodiments of the present application, only one part or component may be labeled with a reference sign in the drawings, and it should be understood that the reference sign is also applicable to other identical parts or components.

[0053] Referring to Figures 1 to 3 The embodiments of the present application provide a virtual track device for magnetic levitation vehicle track coupling vibration test, comprising:

[0054] The frame 1 is provided with a workpiece mounting surface on the top and the bottom;

[0055] The elastic support mechanism 2 is connected to the workpiece mounting surfaces on the top and the bottom of the frame 1;

[0056] The track 3 is transversely arranged in the middle of the frame 1 by the elastic support mechanism 2;

[0057] The vertical sliding support mechanism 4 comprises a sliding assembly 41 vertically connected to the middle of the frame 1 and a support arm 42 mounted on the sliding part of the sliding assembly 41;

[0058] The electromagnet 5 is suspended below the track 3 by the support arm 42; the electromagnet 5 is composed of a winding and an iron core;

[0059] A monitoring mechanism 6, including a first gap sensor 61, a first accelerometer 62 installed on the electromagnet 5, a second gap sensor 63 installed on the top of the frame 1, and a second accelerometer 64 installed on the track 3; the first gap sensor 61 and the first accelerometer 62 can respectively measure the levitation gap between the pole plate of the electromagnet 5 and the track 3, and the vertical motion acceleration of the electromagnet 5; the second gap sensor 63 and the second accelerometer 64 are respectively used to measure the vertical displacement of the track 3 and the vertical motion acceleration of the track 3;

[0060] An electromagnetic driving mechanism 7 is installed on the mounting surface of the bottom of the frame 1, which is used to drive the track 3 to displace in the vertical direction according to the output signal of the monitoring mechanism 6.

[0061] In some embodiments, the frame 1 includes a base 11, two columns 12 and an upper cover plate 13.

[0062] Both of the two columns 12 are installed on the top surface of the base 11 and are respectively located on the left and right sides of the base 11, and the upper cover plate 13 is erected above the base 11 through the two columns 12.

[0063] In some embodiments, the virtual track device further includes two track constraint blocks 8 installed on the two columns 12 in a vertically adjustable manner, the two track constraint blocks 8 can respectively move up and down along the two columns 12, and a locking bolt is installed on each of the two track constraint blocks 8, which can be locked on the column 12 at a proper height and extend a positioning pin to fix the height of the track 3 so that it cannot move vertically, thereby achieving the effect of rigid track. When simulating an elastic track, the track 3 does not need to be locked, and at this time the two track constraint blocks 8 can be used to install a gap sensor to measure the vertical displacement of the track.

[0064] In some embodiments, the elastic support mechanism 2 includes:

[0065] Two screw rods 21, a first spring 22, a second spring 23, a third spring 24 and a fourth spring 25, the two screw rods 21 are respectively vertically installed on the inside left and right sides of the frame 1, the first spring 22 and the second spring 23 are sleeved on the left screw rod 21 in an adjustable manner, and the third spring 24 and the fourth spring 25 are sleeved on the right screw rod 21 in an adjustable manner; the left side of the track 3 abuts between the first spring 22 and the second spring 23, and the right side abuts between the third spring 24 and the fourth spring 25.

[0066] The adjustable mode is illustrated as follows: the elastic support mechanism 2 can further include four adjusting nuts, the top of the first spring 22 and the third spring 24, and the bottom of the second spring 23 and the fourth spring 25 are respectively screwed on the corresponding screw rod 21 through the four adjusting nuts, and the structure can realize the vertical two-way elastic constraint of the electromagnet 5, and meanwhile, the four adjusting nuts can adapt to different spring lengths.

[0067] Alternatively, the elastic support mechanism 2 includes a fifth spring 26 and a sixth spring 27 which are respectively located on the left and right sides of the frame 1 and abut between the inner top surface of the frame 1 and the track 3. Thus, the application can be applied to the case of extremely low stiffness test, and since the fifth spring 26 and the sixth spring 27 can select long springs with very small stiffness, the support mode can simulate the bridge parameters with very low track modal frequency. In order to adjust the natural frequency of the bridge, different stiffness springs (including any of the first spring 22 to the sixth spring 27) can be replaced.

[0068] In some embodiments, the track 3 includes a section steel and a reversed U-shaped magnetic guide rail connected below the section steel, the section steel is used to generate a larger stiffness to support the magnetic guide rail, and the reversed U-shaped magnetic guide rail is made of a magnetic material, including but not limited to A3 steel, Q235 steel or other soft magnetic materials with high magnetic permeability, and is used to interact with the electromagnet 5 below to generate electromagnetic attraction;

[0069] In some embodiments, the sliding assembly 41 includes:

[0070] The linear guide rail 411 is vertically fixedly connected to the middle part of the frame 1, and on one hand, the linear guide rail 411 and the two vertical columns 12 form a three-point support structure to jointly support the upper cover plate 13, and on the other hand, the linear guide rail 411 cooperates with the sliding block 412 mounted on the electromagnet 5 to constrain the movement degree of freedom of the electromagnet 5, so that the electromagnet 5 only moves vertically up and down. The linear guide rail 411 and the two vertical columns 12 jointly form a stable triangular support structure, and as known from the fact that a plane is determined by three points, the triangular support structure can make the connection of the frame 1 and the overall structure of the application more firm. The triangular support structure is shown in Figure 1 .

[0071] The upper sliding block 412 is slidingly connected to the linear guide rail 411 and connected to the track 3, and is used to limit the track 3 to move vertically along the linear guide rail 411 only;

[0072] The lower slider 413 is fixedly connected with the electromagnet 5 and is slidingly connected on the linear guide rail 411. The electromagnet 5 is fixedly installed on the lower slider 413. The lower slider 413 is used to limit the electromagnet 5 to move vertically along the linear guide rail 411. When the electromagnet 5 is not levitated, the weight of the electromagnet 5 acts on the support rod on the top of the support arm 42, and the support rod supports the track 3 through the rubber pad. When the electromagnet 5 is levitated, the height of the support arm 42 rises, so that the rubber pad is separated from the track 3, thereby separating the electromagnet 5 from the track 3. The height of the support rod on the top of the support arm 42 can be adjusted by a bolt, thereby limiting the distance between the electromagnet 5 and the track 3 in the non-levitated state.

[0073] In some embodiments, the electromagnetic driving mechanism 7 comprises:

[0074] Two electromagnetic actuators 71 are respectively installed on the left and right sides of the bottom of the frame 1. The bottom of the electromagnetic actuator 71 is fixed on the base 11.

[0075] Two top rods 72 are respectively connected at the active ends of the two electromagnetic actuators 71 at the bottom, and are fixedly connected at the bottom surface of the track 3 at the top. Considering that different springs have different stiffnesses and the vertical position of the track 3 is different in the static state, a butterfly nut is used on the nut above the top rod 72 to facilitate the adjustment of the height of the top rod 72.

[0076] A levitation controller is electrically connected with the first gap sensor 61, the first accelerometer 62 and the electromagnet 3, respectively, and is used to adjust the levitation current of the electromagnet 3 in real time according to the output signals of the first gap sensor 61 and the first accelerometer 62. The levitation controller has a built-in levitation control algorithm. The output signals of the first gap sensor 61 and the first accelerometer 62 can be sent to the levitation controller, and the levitation control algorithm is used to drive the chopper to adjust the current through the winding of the electromagnet 5, thereby realizing closed-loop control.

[0077] A virtual bridge controller is electrically connected with the electromagnet 3, the monitoring mechanism 6 and the two electromagnetic actuators 71, respectively, and is used to calculate the driving current of the two electromagnetic actuators 71 according to the electromagnetic force signal of the electromagnet 3 and the output signal of the monitoring mechanism 6. The virtual bridge controller has a built-in virtual track control algorithm. The output signals of the monitoring mechanism 6 (including the first gap sensor 61, the first accelerometer 62, the second gap sensor 63 and the second accelerometer 64) are introduced into the virtual track control algorithm, and the virtual track control algorithm is used to drive the two electromagnetic actuators 71 to generate the required driving force acting on the track 3, thereby simulating the displacement of the virtual track under the excitation of the electromagnetic force of the electromagnet 5.

[0078] In some embodiments, the virtual track device further comprises two sets of weights 9 installed on the left and right sides of the track 3. The mass of the weight 9 can be adjusted to adjust the natural frequency of the track 3.

[0079] The working principle of this invention is as follows:

[0080] like Figure 1 As shown, under normal circumstances, the track is supported by four springs, from the first spring 22 to the fourth spring 25. Since the first spring 22, the third spring 24, the second spring 23, and the fourth spring 25 form a bidirectional constraint structure, the track 3, together with the additional weight 9 and the aforementioned springs, constitutes a spring-mass oscillator. Its natural frequency is determined by the sum of the total mass of the track 3 and the additional weight 9 and the stiffness of all the springs. When simulating bridge parameters with very low stiffness, the first spring 22 to the fourth spring 25 can be replaced with the lower-stiffness fifth spring 26 and sixth spring 27 to reduce the natural frequency of the track system.

[0081] To achieve the levitation function, a first gap sensor 61 and a first accelerometer 62 are installed on the electromagnet 5. The output signals of the first gap sensor 61 and the first accelerometer 62 are fed back to the levitation controller, which outputs a drive current through the winding of the electromagnet 5. The energized winding generates a magnetic field between the iron core and the track 3, thereby generating an electromagnetic attraction. When the attraction is greater than the sum of the weight of the electromagnet 5 and the additional components fixed to the electromagnet 5 (including the weights 9, etc.), the electromagnet 5 will move upward, detach from the support of the support arm 42, and begin to levitate. The levitation control algorithm running in the levitation controller adjusts the magnitude of the levitation current of the electromagnet 5 in real time based on the signals from the first gap sensor 61 and the first accelerometer 62.

[0082] To realize the function of virtual bridge, to investigate the stability of levitation control algorithm under the set bridge parameters (including the modal frequency, mass, stiffness, damping ratio of the bridge), an electromagnetic actuator 71 is arranged below each side of the track 3, and a second gap sensor 63 and a second accelerometer 64 are arranged to measure the vertical motion displacement and acceleration of the track 3. The virtual bridge controller receives the output signals of the second gap sensor 63 and the second accelerometer 64, and the electromagnetic force signal generated by the levitation electromagnet 5, and calculates the displacement that the set bridge should generate under the current electromagnetic force of the electromagnet 5 according to the virtual bridge control algorithm and the set bridge parameters, so as to calculate the size of the drive current output to the electromagnetic actuator 71. Under the action of the drive current, the two electromagnetic actuators 71 generate driving forces in the vertical direction and act on the two sides of the track 3 through the top rod 72, which can change the motion parameters such as displacement and acceleration of the bridge under the levitation force of the electromagnet 5, so as to simulate the vertical deformation state of the real bridge under the levitation force. The simulated bridge stiffness, damping and other parameters are realized by closed-loop control of the electromagnetic actuator 71 and the virtual bridge control algorithm. In particular, in the design of the virtual bridge model parameters, multiple vibration mode combinations can be considered at the same time. The overall control scheme of the above virtual track is shown in Figure 4

[0083] Figure 4 In the above-mentioned virtual track, the levitation controller generates a drive current i according to the measured gap fed back by the first gap sensor 61, and the drive current i generates an electromagnetic force FE in the electromagnet winding. Since the electromagnetic force FE acts on the electromagnet 5 and the track 3 at the same time, the sizes of the two are equal and the directions are opposite, so under the elastic track 3 model, the track 3 and the electromagnet 5 will generate vertical displacement and acceleration in the inertial space. Taking the downward displacement as positive, the difference between the vertical displacement of the electromagnet 5 and the vertical displacement of the track 3 is the levitation gap between the electromagnet 5 and the track 3. The virtual bridge controller calculates the displacement that the virtual bridge should generate according to the size of the electromagnetic force generated by the electromagnet winding, the vertical displacement of the track 3, the measurement signal of the first accelerometer 62 and the model of the virtual bridge, and drives the two electromagnetic actuators 71 to generate driving forces F1 and F2 respectively. The resultant force FA of F1 and F2 acts on the track 3 to drive the track 3 to generate the expected displacement.

[0084] In particular, the levitation controller and the virtual bridge controller can be combined into an overall controller.

[0085] Since the virtual bridge control algorithm needs to collect the size of the electromagnetic force of the electromagnet 5 in real time, the size of the electromagnetic force can be realized by the following methods:

[0086] (1) Directly measure the size of the electromagnetic force through a force sensor;

[0087] ​(2) Measure the magnetic field strength in the levitation air gap by the Hall sensor, and then estimate the electromagnetic force according to the following formula

[0088]

[0089] Where B is the air gap magnetic flux density measured by the Hall sensor; S is the pole area of the electromagnet 5; and μ0 is the vacuum permeability.

[0090] (3) Estimate the electromagnetic force in real time by the winding current of the electromagnet 5 and the levitation gap, as shown in the following formula:

[0091]

[0092] Where N is the number of turns of the winding of the electromagnet 5, i is the current through the winding, and δ is the levitation gap.

[0093] The present application drives the spring-supported track 3 in the vertical direction (i.e. the vertical direction) by the two electromagnetic actuators 71, thereby simulating the vertical movement of the virtually set bridge driven by the electromagnetic force, and further investigating the levitation stability of the electromagnet 5 under this working condition.

[0094] In addition, the present application can arbitrarily set the equivalent mass, stiffness, damping and other characteristics of the virtual bridge within a certain range, and investigate the control stability of the levitation control algorithm under this set of bridge parameters. When performing the test, the spring-supported track 3 can be driven by the electromagnetic actuators 71 under the driving of the control algorithm to simulate the vertical movement excitation of the virtually set bridge generated by the electromagnetic force, and further investigate the levitation stability of the levitation electromagnet 5 under this working condition. The present application can be used for vehicle-track coupling vibration test of the maglev train, and investigate the vehicle-bridge coupling vibration of the maglev train under different bridge parameters, and can also be used for effectiveness test of the vehicle-bridge coupling vibration control algorithm.

[0095] The present application also provides a use method of the virtual track device, which specifically comprises the following steps:

[0096] S1, first set the main parameters of the virtual bridge (i.e. the virtual track device), including the modal frequency, mass, stiffness, damping ratio and the like of the bridge;

[0097] S2, install springs with appropriate stiffness; the total stiffness of the selected springs is preferably substantially equivalent to or slightly smaller than the stiffness of the virtually set bridge; for the virtual bridge with large stiffness, four springs, i.e. the first spring 22 to the fourth spring 25, can be provided, and the fifth spring 26 and the sixth spring 27 can also be installed simultaneously to increase the equivalent stiffness of the bridge; when the set bridge is a low-stiffness bridge, only the fifth spring 26 and the sixth spring 27 can be installed;

[0098] S3, according to the steady-state displacement of the track 3, the height of the two electromagnetic actuators 71 active part of the top rod 72 is adjusted, so that the displacement of the two electromagnetic actuators 71 is in the equilibrium point position at static time;

[0099] S4, start the virtual bridge controller, according to the set bridge parameters in real time adjust the driving force of the two electromagnetic actuators 71;

[0100] S5, start the suspension controller, to investigate the stability of the current suspension control algorithm on the virtual track 3.

[0101] The above, only for the specific embodiments of the present application, but the scope of protection of the present application is not limited to this, any skilled in the art of the technical personnel in the technical range of the present application disclosed, can easily think of changes or replacement, should be covered in the scope of protection of the present application. And, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the ordinary skill of the person skilled in the art can be realized, when the technical solution of the combination of each other contradictory or can not be realized when the technical solution of the combination of the present application should be considered that this does not exist, also not within the scope of protection required by the present application. Therefore, the scope of protection of the present application should be limited to the protection scope of the claims.

Claims

1. A virtual track device for a magnetic levitation track coupling vibration test, characterized by, The utility model relates to a kind of electromagnetic suspension system, including: Frame (1), top and bottom are provided with workpiece mounting surface; Elastic support mechanism (2), connect on the workpiece mounting surface of the top and bottom of frame (1); Track (3), be laterally arranged in the middle of frame (1) by elastic support mechanism (2); Vertical sliding support mechanism (4), including sliding assembly (41) vertically connected in the middle of frame (1) and the bracket arm (42) installed on the sliding part of sliding assembly (41); Electromagnet (5), is suspended below track (3) by bracket arm (42); Monitoring mechanism (6), including first gap sensor (61) installed on electromagnet (5), first accelerometer (62), second gap sensor (63) installed on the top of frame (1) and second accelerometer (64) installed on track (3); Electromagnetic drive mechanism (7), installed on the mounting surface of the bottom of frame (1), for driving track (3) to occur displacement in vertical direction according to the output signal of monitoring mechanism (6); The elastic support mechanism (2) includes: Two screw rods (21), first spring (22), second spring (23), third spring (24) and fourth spring (25), two screw rods (21) are vertically installed on the inside left and right sides of frame (1), first spring (22), second spring (23) are all adjusted to be sleeved on the left screw rod (21), third spring (24) and fourth spring (25) are all adjusted to be sleeved on the right screw rod (21);The left side of track (3) is abutted between first spring (22), second spring (23), and the right side is abutted between third spring (24) and fourth spring (25); The electromagnetic drive mechanism (7) includes: Two electromagnetic actuators (71) are installed on the left and right sides of the bottom of frame (1) respectively; Two top rods (72) are connected at the bottom of two electromagnetic actuators (71) respectively, and the top is fixedly connected to the bottom surface of track (3); Suspension controller is electrically connected with first gap sensor (61), first accelerometer (62) and electromagnet (5) respectively, for adjusting the suspension current size of electromagnet (5) in real time according to the output signal of first gap sensor (61) and first accelerometer (62); Virtual bridge controller is electrically connected with electromagnet (5), monitoring mechanism (6) and two electromagnetic actuators (71) respectively, for calculating the size of drive current output to two electromagnetic actuators (71) according to the electromagnetic force signal of electromagnet (5) and the output signal of monitoring mechanism (6).

2. The virtual track apparatus of claim 1, wherein, The frame (1) includes base (11), two columns (12) and upper cover plate (13); Two columns (12) are installed on the top surface of base (11), and are respectively located on the left and right sides of base (11), and upper cover plate (13) is erected above base (11) by two columns (12).

3. The virtual track apparatus of claim 2, wherein, It also includes two track constraint blocks (8) installed on two columns (12) in vertically adjustable manner, for limiting the height of track (3).

4. The virtual track apparatus of claim 1, wherein, The elastic support mechanism (2) comprises a fifth spring (26) and a sixth spring (27) respectively located on the left and right sides of the frame (1) and abutting between the inner top surface of the frame (1) and the track (3).

5. The virtual track apparatus of claim 1, wherein, The track (3) comprises a section steel and a reverse U-shaped magnetic conductive rail connected below the section steel, and the reverse U-shaped magnetic conductive rail is made of a magnetic conductive material.

6. The virtual track apparatus of claim 1, wherein, The sliding assembly (41) comprises: A linear guide rail (411) vertically fixedly connected to the middle part of the frame (1); An upper sliding block (412) slidably connected to the linear guide rail (411) and connected to the track (3), used for limiting the track (3) to move vertically along the linear guide rail (411) only; A lower sliding block (413) slidably connected to the linear guide rail (411), and the electromagnet (5) is fixedly installed on the lower sliding block (413); the lower sliding block (413) is used for limiting the electromagnet (5) to move vertically along the linear guide rail (411) only.

7. The virtual track apparatus according to any one of claims 1 to 6, wherein Further comprising two sets of weights (9) installed on the left and right sides of the track (3), so as to adjust the self-vibration frequency of the track (3) by adjusting the weight of the weight (9).

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