A method, device, system, equipment and medium for controlling operation of medium and low speed maglev train

Abstract

The present invention discloses an operation control method, device, system, equipment and medium for medium- and low-speed maglev trains, which are applied to the technical field of maglev trains. In order to solve the problems of low precision and low efficiency in train operation control, the present invention proposes that the method is applied to a fusion control device including a speed controller and a state controller. The method comprises: processing the current speed fed back by the train running part and the expected speed output by the speed planning module by the speed controller to obtain the corresponding planning force; determining the target actuator according to the planning force by the state controller, obtaining the current parameters of the target actuator, analyzing the planning force and the current parameters to obtain the corresponding execution force, and outputting the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force; the present invention can quickly and accurately control the train, and improve the control efficiency, precision and train impact rate of the train operation.

Description

Technical Field

[0001] The present invention relates to the technical field of maglev trains, and in particular to an operation control method, device, fusion control system, electronic equipment and computer-readable medium for medium- and low-speed maglev trains. Background Art

[0002] The automatic control loops of medium and low speed maglev trains are based on closed-loop control of train speed. The planning module of the Automatic Train Operation (ATO) system plans the target speed of the train based on factors such as line movement authorization, operating stop point settings, and line slopes, and measures the train speed through speed sensors. Figure 1 As shown, in the prior art, the ATO control part requests the train traction drive unit or the train brake unit to output traction or braking force through the train network unit according to the target speed and the measured train speed to control the train speed. On the one hand, in the prior art, a corresponding train traction drive unit needs to be separately set for the traction mechanism, and a corresponding train brake unit needs to be separately set for the brake mechanism. In addition, the ATO control part performs closed-loop control according to feedback, and the output needs to be transmitted to the traction drive unit or the train brake unit through the train network unit. The train traction drive unit or the train brake unit also needs to perform closed-loop control again according to the output of the ATO control part. The overall cost is high, and the overall transmission path of the output signal is long. In addition, in the prior art, when performing closed-loop control, only the speed is considered for closed-loop control, and the intermediate state is not considered, which will affect the control accuracy of the train operation and the train impact rate.

[0003] In view of this, how to improve the operation control efficiency, control accuracy and train impact rate of medium and low speed maglev trains and reduce the cost of vehicles has become a problem that technical personnel in this field need to solve. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide an operation control method, device, integrated control system, electronic device and computer-readable medium for medium- and low-speed maglev trains, which can reduce the overall cost during use, control the train more efficiently and accurately, and improve the control efficiency, accuracy and train impact rate of the train operation.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] On one hand, the present invention provides an operation control method for a medium- and low-speed maglev train, which is applied to a fusion control device, wherein the fusion control device includes a speed controller and a state controller, wherein the input end of the speed controller is used to connect with the output end of a speed planning module and the feedback end of a train running part, the output end of the speed controller is connected with the input end of the state controller, and the input end of the state controller is used to connect with the feedback end of a traction actuator and the feedback end of a brake actuator, and the method includes:

[0007] The speed controller processes the current speed fed back by the train running gear and the desired speed output by the speed planning module to obtain a corresponding planning force;

[0008] The state controller determines the target actuator according to the planning force, obtains the current parameters of the target actuator, analyzes the planning force and the current parameters to obtain the corresponding execution force, and outputs the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force.

[0009] In an exemplary embodiment, the state controller includes a traction controller and a brake controller;

[0010] Then, the process of determining the target actuator according to the planning force through the state controller and obtaining the current parameters of the target actuator includes:

[0011] Determining, by the state controller, whether the planning force is greater than zero;

[0012] When the planned force is greater than zero, taking the traction actuator as the target actuator and obtaining the motor traction force of the traction actuator;

[0013] When the planned force is less than zero, the brake actuator is used as the target actuator, and the braking force of the brake actuator is obtained.

[0014] In an exemplary implementation, analyzing the planning force and the current parameter to obtain the corresponding execution force includes:

[0015] In the case where the target actuator is a traction actuator, subtracting the planned force from the motor traction force to obtain a first force difference value;

[0016] The first force difference value is processed by the traction controller in combination with a second relational expression to obtain a corresponding traction force adjustment value; wherein the traction controller is constructed based on the second relational expression;

[0017] In the case where the target actuator is a brake actuator, subtracting the planned force from the brake force to obtain a second force difference value;

[0018] The second force difference value is processed by the brake controller in combination with the third relationship to obtain a corresponding braking force adjustment value; wherein the brake controller is constructed based on the third relationship.

[0019] In an exemplary embodiment, the speed controller processes the current speed fed back by the train running gear and the desired speed output by the speed planning module to obtain the corresponding planning force, including:

[0020] The speed controller performs a difference processing on the current speed fed back by the train running gear and the expected speed output by the speed planning module to obtain a speed difference value;

[0021] The speed difference is processed by the speed controller in combination with the first relational expression to obtain the corresponding planning force; wherein the speed controller is constructed based on the first relational expression.

[0022] In an exemplary embodiment, the first relationship is:

[0023] , where u1(t) represents the planning force at time t, K 1P represents the proportional control parameter of the speed controller, e v (t) represents the speed difference at time t, T 1i Represents the integral part parameter of the speed controller, T 1d Represents the derivative part parameter of the speed controller.

[0024] In an exemplary embodiment, the second relationship is:

[0025] , where u2(t) represents the traction adjustment value at time t, K 2P represents the proportional control parameter of the traction controller, e f1 (t) represents the speed difference at time t, T 2i represents the integral part parameter of the traction controller, T 2d represents the differential part parameter of the traction controller;

[0026] The third relational expression is:

[0027] , where u3(t) represents the traction adjustment value at time t, K 3P represents the proportional control parameter of the brake controller, e f2 (t) represents the speed difference at time t, T3i Represents the integral part parameter of the brake controller, T 3d Represents the differential part parameter of the brake controller.

[0028] Another aspect of the present invention provides an operation control device for a medium- and low-speed maglev train, which is applied to a fusion control system. The fusion control device includes a speed controller and a state controller. The input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part. The output end of the speed controller is connected with the input end of the state controller. The input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator, including:

[0029] A speed control module, used to process the current speed fed back by the train running gear and the expected speed output by the speed planning module through the speed controller to obtain a corresponding planning force;

[0030] A condition control module is used to determine the target actuator according to the planning force through the state controller, and obtain the current parameters of the target actuator, analyze the planning force and the current parameters to obtain the corresponding execution force, and output the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train walking part accordingly based on the execution force.

[0031] Another aspect of the present invention provides a fusion control device, comprising: a speed controller and a state controller, wherein the input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected with the input end of the state controller, and the input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator; wherein:

[0032] The speed controller is used to process the current speed fed back by the train running gear and the expected speed output by the speed planning module to obtain the corresponding planning force;

[0033] The state controller is used to determine the target actuator according to the planning force, obtain the current parameters of the target actuator, analyze the planning force and the current parameters to obtain the corresponding execution force, and output the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force.

[0034] Another aspect of the present invention provides an electronic device, comprising:

[0035] Memory for storing computer programs;

[0036] The processor is used to implement the steps of the operation control method of the medium and low speed maglev train as described above when executing the computer program.

[0037] Another aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for controlling the operation of a medium- and low-speed maglev train are implemented as described above.

[0038] It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

[0039] An embodiment of the present invention provides an operation control method for a medium- and low-speed maglev train, which is applied to a fusion control device. The fusion control device includes a speed controller and a state controller. The input end of the speed controller is used to connect with the output end of a speed planning module and the feedback end of a train running part, the output end of the speed controller is connected to the input end of the state controller, and the input end of the state controller is used to connect with the feedback end of a traction actuator and the feedback end of a braking actuator. The method includes: processing the current speed fed back by the train running part and the expected speed output by the speed planning module through the speed controller to obtain a corresponding planning force; determining a target actuator according to the planning force through the state controller, and obtaining current parameters of the target actuator, analyzing the planning force and the current parameters to obtain a corresponding execution force, and outputting the execution force to the corresponding target actuator, so that the target actuator can perform corresponding control on the running speed of the train running part based on the execution force.

[0040] It can be seen that in the embodiment of the present invention, the speed controller of the fusion control system processes the current speed and the expected speed of the train to obtain the corresponding planning force, and then sends the planning force directly to the state controller in the fusion controller. The state controller determines the target actuator that needs to be adjusted according to the planning force, and obtains the execution force for the target actuator according to the current parameters and the planning force and the current parameters fed back by the target actuator, and then sends the execution force to the target actuator so that the target actuator controls the running speed of the train walking part according to the execution force; in the process of controlling the train operation, the present invention obtains the control output by the fusion control system and directly outputs it to the traction actuator or the braking actuator, which saves the train network unit, has a simple structure and is conducive to reducing vehicle costs, and the output signal transmission path in the present application is short, which is conducive to improving control efficiency. In the control process, the present application not only considers the running speed of the train but also the state parameters of the actuator, which can control the train more accurately and improve the control accuracy of the train operation and the train impact rate.

[0041] In addition, the present invention also provides corresponding implementation devices, integrated control systems, electronic devices and computer-readable storage media for the operation control method of medium and low speed maglev trains, further making the method more practical, and the devices, electronic devices and computer-readable storage media have corresponding advantages.

[0042] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0044] Figure 1 A dual closed-loop control architecture diagram of the prior art is listed;

[0045] Figure 2 A schematic flow chart of an operation control method for a medium- and low-speed maglev train provided in an embodiment of the present invention;

[0046] Figure 3 A dual closed-loop control architecture diagram of a listed operation provided by an embodiment of the present invention;

[0047] Figure 4 Another dual closed-loop control architecture diagram for listing operations provided by an embodiment of the present invention;

[0048] Figure 5 A schematic diagram of a double closed-loop control process of listing operations provided by an embodiment of the present invention;

[0049] Figure 6 Another schematic diagram of a dual closed-loop control process for listing operations provided by an embodiment of the present invention;

[0050] Figure 7 A schematic diagram of the structure of an operation control device for a medium- and low-speed maglev train provided by an embodiment of the present invention;

[0051] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0052] Fig. 9 A schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The embodiments of the present invention provide an operation control method, device, integrated control system, electronic device and computer-readable medium for medium- and low-speed maglev trains, which can reduce overall costs during use, control trains more efficiently and accurately, and improve the control efficiency, accuracy and train impact rate of train operation.

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Please refer to Figure 2 , Figure 2 A flow chart of a method for controlling the operation of a medium- and low-speed maglev train provided in an embodiment of the present invention. The method is applied to a fusion control system, which includes a speed controller and a state controller, wherein the input end of the speed controller is used to connect to the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected to the input end of the state controller, and the input end of the state controller is used to connect to the feedback end of the traction actuator and the feedback end of the brake actuator, and the method includes:

[0056] S110: Processing the current speed fed back by the train running gear and the expected speed output by the speed planning module through the speed controller to obtain the corresponding planning force;

[0057] Please note that, please refer to Figure 3 and Figure 4 As shown in the operation control architecture diagram, the fusion control system in the embodiment of the present invention can be integrated with a speed controller and a state controller. In practical applications, the speed controller and the state controller can be pre-established. The speed controller can obtain the expected speed sent by the previous ATO planning unit, and can also receive the current speed of the train fed back by the train running unit. Specifically, during the travel of the train, the train running unit can be detected by a sensor, and the speed corresponding to the running unit is detected, that is, the current speed of the train is obtained, and the current speed is fed back to the speed controller. The ATO planning unit sends the current expected speed of the train to the speed controller, wherein the ATO planning unit can calculate the current expected driving speed of the train according to factors such as the train position, train movement authorization, line speed limit within the train movement authorization range, line construction characteristics, train operating speed level requirements, vehicle speed limit, vehicle dynamics characteristics, etc., that is, the expected speed is obtained.

[0058] It can be understood that the speed controller in the embodiment of the present invention can process the received expected speed and the listed current speed to obtain the planned force at the current moment, wherein the planned force is also the expected force.

[0059] Specifically, the desired speed can be subtracted from the current speed to obtain a speed difference, and then the speed difference is processed by the speed controller in combination with the first relational expression to obtain the corresponding planning force. The ATO speed controller in the embodiment of the present invention can be constructed according to the first relational expression, which is:

[0060] , where u1(t) represents the planning force at time t, K 1P represents the proportional control parameter of the speed controller, e v (t) represents the speed difference at time t, T 1i Represents the integral part parameter of the speed controller, T 1d Represents the derivative part parameter of the speed controller.

[0061] It is understood that in practical applications, the proportional control parameter K of the speed controller can be predetermined. 1P , the integral part parameter T of the speed controller 1i and the differential part parameter T of the speed controller 1d , thus obtaining the speed difference e v (t), the speed difference can be substituted into the first relationship to obtain the corresponding planning force u1(t).

[0062] S120: determining the target actuator according to the planning force through the state controller, obtaining the current parameters of the target actuator, analyzing the planning force and the current parameters to obtain the corresponding execution force, and outputting the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force;

[0063] Specifically, in the embodiment of the present invention, after the speed controller obtains the planning force, the planning force can be directly output to the state controller in the fusion control system, and considering the influence of the parameters of the actuator on the planning force, the state controller can further determine the target actuator that needs to be adjusted according to the planning force, and obtain the current parameters (i.e., the current operating parameters) fed back by the target actuator.

[0064] In practical applications, the state controller can determine whether the planned force is greater than zero, that is, identify whether the planned force is a positive value or a negative value. When it is determined that the planned force is greater than zero, it is necessary to perform traction operations on the train, determine the traction actuator as the target actuator, and obtain the motor traction force of the traction actuator. Specifically, the motor traction force of the traction motor can be determined by obtaining the excitation current value of the traction motor in the traction actuator.

[0065] In addition, when the planned force is less than zero, the train needs to be braked, the brake actuator is determined as the target actuator, and the braking force of the brake actuator is obtained. Specifically, the pressure of the brake mechanism can be obtained to determine the corresponding braking force.

[0066] After determining the target actuator and obtaining the corresponding current parameters, the state controller can further analyze the planned force output by the speed controller and the current parameters fed back by the target actuator to obtain the execution force corresponding to the target actuator, and output the execution force directly to the corresponding target actuator, so that the target actuator can adjust its own parameters based on the execution force to control the running speed of the train running part.

[0067] That is, in the present application, the target actuator can be determined by analyzing the current speed and expected speed of the train through a fusion controller, and the corresponding execution force can be obtained in combination with the current parameters of the target actuator, and the execution force can be directly output to the corresponding target actuator to control the speed of the train running mechanism.

[0068] It should be noted that the state controller in the embodiment of the present invention integrates the traction controller and the brake controller, that is, the traction controller and the brake controller are integrated into one state controller, and the traction controller and the brake controller are connected, wherein the output end of the traction controller is connected to the traction actuator, and the output end of the brake controller is connected to the brake actuator. Specifically, when it is determined that the target actuator is the traction actuator, the planned force u1(t) can be subtracted from the motor traction force of the traction motor to obtain the corresponding first force difference value e f1 (t), and then the first force difference e f1 (t) is input to the traction controller, and the traction controller combines the second relationship to calculate the first force difference e f1 (t) is processed to obtain a corresponding traction force adjustment value, and the traction force adjustment value is output to the traction actuator, so that the excitation current of the traction motor of the traction actuator can be adjusted by the braking force adjustment value, so that the traction motor outputs the corresponding traction force to control the speed of the train running part.

[0069] The traction controller is constructed based on a second relational expression, which is:

[0070] , where u2(t) represents the traction adjustment value at time t, K 2P represents the proportional control parameter of the traction controller, e f1 (t) represents the first force difference at time t, T 2i represents the integral part parameter of the traction controller, T 2d Represents the derivative part parameter of the traction controller.

[0071] It is understandable that in practical applications, the proportional control parameter K of the traction controller can be predetermined. 2P , the integral part parameter T of the traction controller 2i and the derivative parameter T of the traction controller 2d , thus obtaining the first force difference e f1 (t) after which the first force difference e f1 Substituting (t) into the second relational equation, the corresponding traction force adjustment value u2(t) can be obtained.

[0072] In addition, when it is determined that the target actuator is a brake actuator, the planned force u1(t) can be subtracted from the brake force to obtain a second force difference value e f2 (t), and then the second force difference e f2 (t) is input to the brake controller, and the brake controller is used to control the second force difference e f2 (t) is processed to obtain a corresponding braking force adjustment value, so that the braking force of the brake actuator can be adjusted by the braking force adjustment value to control the speed of the train running gear.

[0073] The brake controller can be constructed according to the third relational expression, which is:

[0074] , where u3(t) represents the traction adjustment value at time t, K 3P represents the proportional control parameter of the brake controller, e f2 (t) represents the second force difference at time t, T 3i Represents the integral part parameter of the brake controller, T 3d Represents the differential part parameter of the brake controller.

[0075] It is understood that in practical applications, the proportional control parameter K of the brake controller can be predetermined. 3 P , the integral part parameter T of the brake controller 3i and the differential part parameter T of the brake controller 3d , thus obtaining the second force difference ef2 (t) after which the second force difference e f2 Substituting (t) into the second relational equation, the corresponding braking force adjustment value u3(t) can be obtained.

[0076] Specifically, after obtaining the execution force corresponding to the target actuator, the corresponding parameters of the target actuator can be adjusted according to the execution force, so that the target actuator outputs a force corresponding to the execution force acting on the train running part, thereby realizing the control of the running speed of the train running part.

[0077] It should be noted that the dual closed-loop transfer functions of the traction control closed loop and the brake control closed loop formed by the speed controller, traction controller and brake controller in the fusion control system can be pre-built, that is, the traction control closed-loop transfer function and the brake control closed-loop transfer function are built, and then the various parameters in the speed controller, traction controller and brake controller are determined in combination with preset index requirements (such as the stability criterion of the transfer function, the response index requirements during the time domain impulse response, the index requirements during the ramp function response, etc.). In the embodiment of the present invention, combined with Figure 5 and Figure 6 For each parameter in the first relational expression corresponding to the speed controller in the embodiment of the present invention (that is, the proportional control parameter K of the speed controller 1P , the integral part parameter T of the speed controller 1i and the differential part parameter T of the speed controller 1d ), the parameters in the second relational expression corresponding to the traction controller (that is, the proportional control parameter K of the traction controller 2P , the integral part parameter T of the traction controller 2i and the derivative parameter T of the traction controller 2d ) and the parameters in the third relational expression corresponding to the brake controller (proportional control parameter K of the brake controller 3P , the integral part parameter T of the brake controller 3i and the differential part parameter T of the brake controller 3d ) is introduced accordingly:

[0078] Speed ​​Controller: ;

[0079] Traction controller: ;

[0080] Brake controller: .

[0081] Based on classical control theory, Figure 3The control framework of the train is shown in Figure 2. The transfer function of the excitation current and the driving torque of the train drive motor can be expressed as T(S), the transfer function of the braking torque generated by the driving air pressure and the brake shoe pressure of the train brake unit can be expressed as B(S), the transfer function of the driving torque / braking torque acting on the running gear is M(S), the traction torque sampling transfer function is FI(S), the braking torque sampling function is FA(S), and the speed sampling transfer function is FV(S).

[0082] The closed-loop control based on speed, the traction torque control based on current state, and the braking torque control based on pressure are all real-time controls, using the classic PID (proportional-integral-derivative control) control. The transfer function of the speed controller is KC1(S), the transfer function of the traction controller is KC2(S), and the transfer function of the brake controller is KC3(S). The closed-loop transfer functions of the dual closed-loop control are:

[0083] Traction control closed loop transfer function: ;

[0084] Braking control closed loop transfer function: .

[0085] Among them, the traction control closed-loop transfer function represents the transformation process of the control signal from the desired speed to the train generating traction acceleration during the control process; the braking control closed-loop transfer function represents the transformation process of the control signal from the desired speed to the train generating braking force during the control process.

[0086] Combining the theoretical model of the linear motor, the theoretical model of the pressure brake system, and the transfer function of the PID controller (KC1, KC2, KC3), it can be seen that the first relationship and the second relationship must be a second-order or higher system.

[0087] By configuring the zero-order point in the design, the system is configured as a stable system, and the transfer function of the dual closed-loop controller of traction and braking can be transformed into the following formula:

[0088] , where S is the symbol for the Lars transform, k is the number of zeros in the system with constant coefficient m, n is the number of poles in the system, and Z i Position system zero point, P i is the system pole. The corresponding value range of m and n can be controlled by configuring the zero-order point of the system.

[0089] It can be understood that the system order, system stability, root distribution, etc. can be expressed intuitively through this representation.

[0090] According to actual engineering applications, electromechanical system control usually adopts PD (proportional plus derivative control). The traction / brake actuator is regarded as a proportional amplification of the control quantity. The speed generated by the actuator output to the direction part is the process of converting the integral of the force into speed. Figure 3 Can be converted to Figure 4 :

[0091] The converted traction closed-loop control transfer function is:

[0092] ;

[0093] Among them, Kv is the proportional part parameter K of the speed controller 1p , Tv is the differential parameter T of the speed controller 1d , Kt is the proportional parameter K of the state controller during traction control (i.e. traction controller) 2P , Tt is the differential parameter T of the state controller traction control (i.e. traction controller) 2d , KT is the traction control quantity magnification factor T(S) (S), and M is the equivalent mass under traction.

[0094] The converted brake closed-loop control transfer function is:

[0095] ;

[0096] Among them, Kv is the proportional part parameter K of the speed controller 1P , Tv is the differential parameter of the speed controller, Kb is the proportional parameter K of the state controller during braking control (i.e., the brake controller) 3P , Tb is the differential parameter T of the state controller braking control (i.e. brake controller) 3d , KB is the brake control amount magnification B(S), is the equivalent mass under braking.

[0097] The converted traction closed-loop control transfer function and the converted brake closed-loop control transfer function can be converted into the formula In the form of, m, n are both 2, k, Z i , P i It can be expressed by Kv, Tv, Kt, Tt, Kb, Tb, and M.

[0098] In practical applications, by pre-determining The stability criterion of the formula, the response index requirements in the time domain impulse response, and the index requirements in the ramp function response (such as steady-state error, peak time, maximum offset, adjustment time, etc.) can be solved by combining the above-mentioned converted traction closed-loop control transfer function and braking closed-loop control transfer function. Figure 4 The parameters Kv, Tv, Kt, Tt, Kb, Tb are obtained by solving the proportional control parameter K of the traction controller. 2P , the differential part parameter T of the traction controller 2d , proportional control parameter K of the brake controller 3P , differential part parameter T of brake controller 3d , where the integral part parameter T of the traction controller in practical applications is 2i and the integral part parameter T of the brake controller 3i All of them can be set to 0, so that the parameters of the three controllers, namely the speed controller, the traction controller and the brake controller, can be determined, and the train operation can be further controlled by the above method.

[0099] It can be seen that in the embodiment of the present invention, the speed controller of the fusion control system processes the current speed and the expected speed of the train to obtain the corresponding planning force, and then sends the planning force directly to the state controller in the fusion controller. The state controller determines the target actuator that needs to be adjusted according to the planning force, and obtains the execution force for the target actuator according to the current parameters and the planning force and the current parameters fed back by the target actuator, and then sends the execution force to the target actuator so that the target actuator controls the running speed of the train walking part according to the execution force; in the process of controlling the train operation, the present invention obtains the control output by the fusion control system and directly outputs it to the traction actuator or the braking actuator, which saves the train network unit, has a simple structure and is conducive to reducing vehicle costs, and the output signal transmission path in the present application is short, which is conducive to improving control efficiency. In the control process, the present application not only considers the running speed of the train but also the state parameters of the actuator, which can control the train more accurately and improve the control accuracy of the train operation and the train impact rate.

[0100] In addition, it should be noted that the embodiment of the present invention is aimed at the characteristics of the linear motor current, brake system pressure, etc. of the medium and low speed maglev train, and establishes a dual closed-loop control loop based on speed and current / pressure to control the train, so as to shorten the adjustment step of the train automatic operation control, improve the smoothness and comfort of the train running speed, and reduce the energy consumption of the train. Based on the dual closed-loop control method, the embodiment of the present invention can realize the direct control of the traction braking system during the medium and low speed maglev operation. The adoption and promotion of this method will save network units in the train and reduce the vehicle cost of the medium and low speed maglev train. In addition, the motor output torque (i.e., traction force) and brake shoe braking torque (brake force can be obtained) collected in this method are all directly controlled state quantities, which are conducive to improving the train speed control accuracy, train impact rate, etc., and can improve the passenger service experience.

[0101] The present invention also provides a corresponding device for the operation control method of a medium- and low-speed maglev train, which further makes the method more practical. Among them, the device can be described from the perspective of functional modules and hardware. The operation control device of the medium- and low-speed maglev train provided by the present invention is introduced below. The device is used to implement the operation control method of the medium- and low-speed maglev train provided by the present invention. In this embodiment, the operation control device of the medium- and low-speed maglev train may include or be divided into one or more program modules, which are stored in a storage medium and executed by one or more processors to complete the operation control method of the medium- and low-speed maglev train disclosed in the above embodiment. The program module referred to in the present invention refers to a series of computer program instruction segments that can complete specific functions, which is more suitable for describing the execution process of the operation control device of the medium- and low-speed maglev train in the storage medium than the program itself. The following description will specifically introduce the functions of each program module of this embodiment. The operation control device of the medium- and low-speed maglev train described below and the operation control method based on the medium- and low-speed maglev train described above can be referred to each other.

[0102] From the perspective of functional modules, see Figure 7 , Figure 7 The structure diagram of the operation control device of the medium- and low-speed maglev train provided by the present invention in a specific embodiment, the device is applied to a fusion control system, the fusion control system includes a speed controller and a state controller, the input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected with the input end of the state controller, the input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator, and may include:

[0103] The speed control module 11 is used to process the current speed fed back by the train running gear and the expected speed output by the speed planning module through the speed controller to obtain the corresponding planning force;

[0104] The status control module 12 is used to determine the target actuator according to the planning force through the state controller, and obtain the current parameters of the target actuator, analyze the planning force and the current parameters to obtain the corresponding execution force, and output the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force.

[0105] It should be noted that the operation control device for medium and low speed maglev trains provided in the embodiments of the present invention has the same beneficial effects as the operation control method for medium and low speed maglev trains provided in the above embodiments, and for the specific introduction to the operation control method for medium and low speed maglev trains involved in the embodiments of the present invention, please refer to the above embodiments, and this application will not go into details here.

[0106] On the basis of the above embodiment, the embodiment of the present invention further provides a fusion control system, comprising: a speed controller and a state controller, the input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected with the input end of the state controller, and the input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator; wherein:

[0107] The speed controller is used to process the current speed fed back by the train running gear and the expected speed output by the speed planning module to obtain the corresponding planning force;

[0108] The state controller is used to determine the target actuator according to the planned force, obtain the current parameters of the target actuator, analyze the planned force and the current parameters to obtain the corresponding execution force, and output the execution force to the corresponding target actuator so that the target actuator can control the running speed of the train running part accordingly based on the execution force.

[0109] It can be understood that the state controller in the embodiment of the present invention includes a traction controller and a brake controller;

[0110] The above analysis of planning power and current parameters yields the corresponding execution power, including:

[0111] A traction controller, for, when the target actuator is a traction actuator, subtracting the planned force from the motor traction force to obtain a first force difference value, and processing the first force difference value in combination with a second relational expression to obtain a corresponding traction force adjustment value; wherein the traction controller is constructed based on the second relational expression;

[0112] A brake controller is used to, when the target actuator is a brake actuator, subtract the planned force from the brake force to obtain a second force difference value, and process the second force difference value in combination with a third relationship to obtain a corresponding brake force adjustment value; wherein the brake controller is constructed based on the third relationship.

[0113] In one embodiment, a speed controller is used to perform a difference processing between the current speed fed back by the train running unit and the expected speed output by the speed planning module to obtain a speed difference, and process the speed difference in combination with a first relationship to obtain a corresponding planning force; wherein the speed controller is constructed based on the first relationship.

[0114] In one embodiment, the first relationship is:

[0115] , where u1(t) represents the planning force at time t, K 1P represents the proportional control parameter of the speed controller, e v (t) represents the speed difference at time t, T 1i Represents the integral part parameter of the speed controller, T 1d Represents the derivative part parameter of the speed controller.

[0116] In one embodiment, the second relationship is:

[0117] , where u2(t) represents the traction adjustment value at time t, K 2P represents the proportional control parameter of the traction controller, e f1 (t) represents the first force difference at time t, T 2i represents the integral part parameter of the traction controller, T 2d represents the differential part parameter of the traction controller;

[0118] The third relation is:

[0119] , where u3(t) represents the traction adjustment value at time t, K 3P represents the proportional control parameter of the brake controller, e f2 (t) represents the second force difference at time t, T 3i Represents the integral part parameter of the brake controller, T 3d Represents the differential part parameter of the brake controller.

[0120] It should be noted that the architecture diagram of the fusion controller in the embodiment of the present invention can refer to the architecture diagram of the fusion controller in the embodiment of the method described above. Figure 3 and Figure 4 For the specific introduction of the fusion controller, please refer to the above method embodiment, and the embodiment of the present invention will not be repeated here.

[0121] The operation control device for medium and low speed maglev trains mentioned above is described from the perspective of functional modules. Furthermore, the present invention also provides an electronic device, which is described from the perspective of hardware. Figure 8 A structural diagram of an electronic device provided in an embodiment of the present application, such as Figure 8 As shown, the electronic device includes: a memory 20 for storing a computer program;

[0122] The processor 21 is used to implement the steps of the operation control method of the low-speed maglev train in the above embodiment when executing the computer program.

[0123] The electronic device provided in this embodiment may include but is not limited to a smart phone, a tablet computer, a laptop computer or a desktop computer.

[0124] Among them, the processor 21 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 21 can be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0125] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the memory 20 may be an internal storage unit of an electronic device, such as a hard disk of a server. In other embodiments, the memory 20 may also be an external storage device of an electronic device, such as a plug-in hard disk equipped on a server, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. Further, the memory 20 may also include both an internal storage unit of an electronic device and an external storage device. The memory 20 may not only be used to store application software and various types of data installed in the electronic device, such as: the code of the program in the process of executing the operation control method of a medium and low-speed maglev train, but also be used to temporarily store data that has been output or is to be output. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, the relevant steps of the operation control method of a medium and low-speed maglev train disclosed in any of the aforementioned embodiments can be implemented. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to (data corresponding to the operation control results of medium and low speed maglev trains) and the like.

[0126] In some embodiments, the electronic device may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26. Among them, the display screen 22 and the input / output interface 23, such as a keyboard, belong to the user interface, and the optional user interface may also include a standard wired interface, a wireless interface, and the like. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, and the like. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visual user interface. The communication interface 24 may optionally include a wired interface and / or a wireless interface, such as a WI-FI interface, a Bluetooth interface, and the like, which are generally used to establish a communication connection between the electronic device and other electronic devices. The communication bus 26 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, and the like. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0127] Those skilled in the art will understand that Figure 8 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0128] It is understandable that if the operation control method of the medium and low speed maglev train in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), electrically erasable programmable ROM, register, hard disk, removable disk, CD-ROM, magnetic disk or optical disk and other media that can store program codes.

[0129] Based on this, Fig. 9As shown, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program 31 is stored. When the computer program 31 is executed by a processor, the steps of the operation control method of the medium and low speed maglev train are implemented as described above.

[0130] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0131] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0132] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the operation of a medium- and low-speed maglev train, characterized in that: Applied to a fusion control system, the fusion control system includes a speed controller and a state controller, the input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected with the input end of the state controller, the input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator, the method includes: The speed controller processes the current speed fed back by the train running gear and the desired speed output by the speed planning module to obtain a corresponding planning force; The state controller determines the target actuator according to the planning force, obtains the current parameters of the target actuator, analyzes the planning force and the current parameters to obtain the corresponding execution force, and outputs the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force; wherein: The analyzing the planning force and the current parameter to obtain the corresponding execution force includes: In the case where the target actuator is a traction actuator, subtracting the planned force from the motor traction force to obtain a first force difference value; The first force difference value is processed by a traction controller in combination with a second relational expression to obtain a corresponding traction force adjustment value; wherein the traction controller is constructed based on the second relational expression; In the case where the target actuator is a brake actuator, subtracting the planned force from the brake force to obtain a second force difference value; The second force difference value is processed by a brake controller in combination with a third relational expression to obtain a corresponding brake force adjustment value; wherein the brake controller is constructed based on the third relational expression; The second relation is: , where u2(t) represents the traction adjustment value at time t, K 2P represents the proportional control parameter of the traction controller, e f1 (t) represents the first force difference at time t, T 2i represents the integral part parameter of the traction controller, T 2d represents the differential part parameter of the traction controller; The third relational expression is: , where u3(t) represents the traction adjustment value at time t, K 3P represents the proportional control parameter of the brake controller, e f2 (t) represents the second force difference at time t, T 3i Represents the integral part parameter of the brake controller, T 3d Represents the differential part parameter of the brake controller.

2. The operation control method of a medium- and low-speed maglev train according to claim 1, characterized in that: The state controller includes a traction controller and a brake controller; Then, the process of determining the target actuator according to the planning force through the state controller and obtaining the current parameters of the target actuator includes: Determining, by the state controller, whether the planning force is greater than zero; When the planned force is greater than zero, taking the traction actuator as the target actuator and obtaining the motor traction force of the traction actuator; When the planned force is less than zero, the brake actuator is used as the target actuator, and the braking force of the brake actuator is obtained.

3. The operation control method of a medium- and low-speed maglev train according to any one of claims 1 to 2, characterized in that: The speed controller processes the current speed fed back by the train running gear and the expected speed output by the speed planning module to obtain the corresponding planning force, including: The speed controller performs a difference processing on the current speed fed back by the train running gear and the expected speed output by the speed planning module to obtain a speed difference value; The speed difference is processed by a speed controller in combination with a first relational expression to obtain a corresponding planning force; wherein the speed controller is constructed based on the first relational expression.

4. The operation control method of a medium- and low-speed maglev train according to claim 3, characterized in that: The first relation is: , where u1(t) represents the planning force at time t, K 1P represents the proportional control parameter of the speed controller, e v (t) represents the speed difference at time t, T 1i Represents the integral part parameter of the speed controller, T 1d Represents the derivative part parameter of the speed controller.

5. A running control device for a medium- and low-speed maglev train, characterized in that: Applied to a fusion control system, the fusion control system includes a speed controller and a state controller, the input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected with the input end of the state controller, and the input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator, including: A speed control module, used to process the current speed fed back by the train running gear and the expected speed output by the speed planning module through the speed controller to obtain a corresponding planning force; A condition control module is used to determine the target actuator according to the planning force through the state controller, obtain the current parameters of the target actuator, analyze the planning force and the current parameters to obtain the corresponding execution force, and output the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force; wherein: The analyzing the planning force and the current parameter to obtain the corresponding execution force includes: In the case where the target actuator is a traction actuator, subtracting the planned force from the motor traction force to obtain a first force difference value; The first force difference value is processed by a traction controller in combination with a second relational expression to obtain a corresponding traction force adjustment value; wherein the traction controller is constructed based on the second relational expression; In the case where the target actuator is a brake actuator, subtracting the planned force from the brake force to obtain a second force difference value; The second force difference value is processed by a brake controller in combination with a third relational expression to obtain a corresponding brake force adjustment value; wherein the brake controller is constructed based on the third relational expression; The second relation is: , where u2(t) represents the traction adjustment value at time t, K 2P represents the proportional control parameter of the traction controller, e f1 (t) represents the first force difference at time t, T 2i represents the integral part parameter of the traction controller, T 2d represents the differential part parameter of the traction controller; The third relational expression is: , where u3(t) represents the traction adjustment value at time t, K 3P represents the proportional control parameter of the brake controller, e f2 (t) represents the second force difference at time t, T 3i Represents the integral part parameter of the brake controller, T 3d Represents the differential part parameter of the brake controller.

6. A fusion control system, characterized in that: include: A speed controller and a state controller, wherein the input end of the speed controller is used to connect with the output end of the speed planning module and the feedback end of the train running part, the output end of the speed controller is connected with the input end of the state controller, and the input end of the state controller is used to connect with the feedback end of the traction actuator and the feedback end of the brake actuator; wherein: The speed controller is used to process the current speed fed back by the train running gear and the expected speed output by the speed planning module to obtain the corresponding planning force; The state controller is used to determine the target actuator according to the planning force, obtain the current parameters of the target actuator, analyze the planning force and the current parameters to obtain the corresponding execution force, and output the execution force to the corresponding target actuator, so that the target actuator can control the running speed of the train running part accordingly based on the execution force; wherein: The analyzing the planning force and the current parameter to obtain the corresponding execution force includes: In the case where the target actuator is a traction actuator, subtracting the planned force from the motor traction force to obtain a first force difference value; The first force difference value is processed by a traction controller in combination with a second relational expression to obtain a corresponding traction force adjustment value; wherein the traction controller is constructed based on the second relational expression; In the case where the target actuator is a brake actuator, subtracting the planned force from the brake force to obtain a second force difference value; The second force difference value is processed by a brake controller in combination with a third relational expression to obtain a corresponding brake force adjustment value; wherein the brake controller is constructed based on the third relational expression; The second relation is: , where u2(t) represents the traction adjustment value at time t, K 2P represents the proportional control parameter of the traction controller, e f1 (t) represents the first force difference at time t, T 2i represents the integral part parameter of the traction controller, T 2d represents the differential part parameter of the traction controller; The third relational expression is: , where u3(t) represents the traction adjustment value at time t, K 3P represents the proportional control parameter of the brake controller, e f2 (t) represents the second force difference at time t, T 3i Represents the integral part parameter of the brake controller, T 3d Represents the differential part parameter of the brake controller.

7. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to implement the steps of the operation control method of a medium- and low-speed maglev train as described in any one of claims 1 to 4 when executing the computer program.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for controlling the operation of a medium- and low-speed maglev train as claimed in any one of claims 1 to 4.

Images