Train control method and device for maglev train and train

Abstract

The invention provides a train control method and device for a maglev train and the train, and can be applied to the technical field of vehicle control. The method comprises the following steps: acquiring an actual suspension gap between a suspension electromagnet of the magnetically levitated train and a bridge and an actual input voltage of the suspension electromagnet; according to the actual suspension gap and the actual input voltage, utilizing a pre-established state and disturbance observer to obtain disturbance active compensation voltage for resisting disturbance; according to the electromagnet acceleration of the suspension electromagnet, active vibration reduction voltage used for vibration reduction is obtained; obtaining a state feedback voltage according to the actual suspension gap and the reference suspension gap; and controlling the suspension gap between the suspension electromagnet and the bridge as a reference suspension gap according to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle control technology, and more specifically, to a train control method, device and train for a maglev train. Background Art

[0002] The structure of the maglev train includes suspension electromagnets, suspension frames, and car bodies. The various components are connected by elastic structures such as air springs and rubber nodes to form mutually coupled elastic damping forces. However, there will be a coupled vibration effect between the bridge and the maglev train, which will have a nonlinear effect on the vertical system of the maglev train.

[0003] In the process of realizing the concept of the present disclosure, the inventors found that there are at least the following problems in the related art: the control accuracy of the suspension gap of the maglev train in the related art is low. Summary of the invention

[0004] In view of this, the present disclosure provides a train control method, device and train for a maglev train.

[0005] One aspect of the present disclosure provides a train control method for a maglev train, comprising:

[0006] Obtaining an actual suspension gap between a suspension electromagnet of a maglev train and a bridge and an actual input voltage of the suspension electromagnet;

[0007] According to the actual suspension gap and the actual input voltage, a disturbance active compensation voltage for resisting disturbance is obtained by using a pre-established state and disturbance observer;

[0008] According to the electromagnet acceleration of the suspension electromagnet, an active vibration reduction voltage for vibration reduction is obtained;

[0009] According to the actual suspension gap and the reference suspension gap, a state feedback voltage is obtained;

[0010] According to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage, the suspension gap between the suspension electromagnet and the bridge is controlled to be the reference suspension gap.

[0011] According to an embodiment of the present disclosure, the method of obtaining a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to the actual suspension gap and the actual input voltage includes:

[0012] Using the pre-established state and disturbance observer, an estimated value of the actual suspension gap is obtained;

[0013] Obtaining an estimated value of a total disturbance corresponding to the estimated value of the actual floating gap according to the estimated value of the actual floating gap and the actual input voltage;

[0014] The disturbance active compensation voltage for resisting interference is obtained according to the estimated value of the total disturbance corresponding to the estimated value of the actual floating gap.

[0015] According to an embodiment of the present disclosure, the above method further includes:

[0016] According to the actual suspension gap and the actual input voltage, an integrator series system corresponding to the actual suspension gap is established.

[0017] According to an embodiment of the present disclosure, obtaining an estimated value of a total disturbance corresponding to the estimated value of the actual floating gap according to the estimated value of the actual floating gap and the actual input voltage includes:

[0018] According to the estimated value of the actual suspension gap and the actual input voltage, the estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap is obtained by using the integrator series system.

[0019] According to an embodiment of the present disclosure, obtaining the state feedback voltage according to the actual suspension gap and the reference suspension gap includes:

[0020] Using a pre-established state and disturbance observer, an estimated value of the actual suspension gap, an estimated value of a first-order derivative of the actual suspension gap, and an estimated value of a second-order derivative of the actual suspension gap are obtained;

[0021] The state feedback voltage is obtained according to the actual suspension gap, the reference suspension gap, the first-order derivative of the reference suspension gap, the second-order derivative of the reference suspension gap, the third-order derivative of the reference suspension gap, the estimated value of the first-order derivative of the actual suspension gap and the estimated value of the second-order derivative of the actual suspension gap.

[0022] According to an embodiment of the present disclosure, the above method further includes:

[0023] According to the force condition of the magnetic levitation train in a balanced suspension condition, the magnetic flux of a single magnetic pole of the levitation electromagnet is obtained;

[0024] According to the magnetic flux of a single magnetic pole of the levitation electromagnet, an approximate value of the gain coefficient of the actual input voltage of the levitation electromagnet is obtained.

[0025] According to an embodiment of the present disclosure, the magnetic flux of a single magnetic pole of the levitation electromagnet is obtained according to the force condition of the maglev train in a balanced suspension state, including:

[0026] When the maglev train is in balanced suspension, the electromagnetic force on the bridge is obtained according to the body mass of the maglev train, the mass of the suspension frame and the mass of the suspension electromagnet;

[0027] According to the electromagnetic force exerted on the bridge, the magnetic flux of a single magnetic pole of the suspension electromagnet is obtained.

[0028] According to an embodiment of the present disclosure, the method of obtaining a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to the actual suspension gap and the actual input voltage includes:

[0029] According to the approximate value of the gain coefficient of the actual input voltage, the actual suspension gap and the actual input voltage, the disturbance active compensation voltage for resisting interference is obtained by using a pre-established state and disturbance observer;

[0030] The active vibration reduction voltage for vibration reduction is obtained according to the electromagnet acceleration of the suspension electromagnet, including:

[0031] According to the approximate value of the gain coefficient of the actual input voltage and the electromagnet acceleration of the suspension electromagnet, the active vibration reduction voltage for vibration reduction is obtained;

[0032] The step of obtaining the state feedback voltage according to the actual suspension gap and the reference suspension gap includes:

[0033] A state feedback voltage is obtained according to an approximate value of a gain coefficient of the actual input voltage, the actual suspension gap and a reference suspension gap.

[0034] According to an embodiment of the present disclosure, the actual suspension gap is measured by a suspension gap sensor, and the electromagnet acceleration of the suspension electromagnet is measured by an acceleration sensor.

[0035] Another aspect of the present disclosure provides a train control device for a maglev train, comprising:

[0036] An acquisition module is used to acquire an actual suspension gap between the suspension electromagnet of the maglev train and the bridge and an actual input voltage of the suspension electromagnet;

[0037] A first obtaining module is used to obtain a disturbance active compensation voltage for resisting interference according to the actual suspension gap and the actual input voltage by using a pre-established state and disturbance observer;

[0038] A second obtaining module is used to obtain an active vibration reduction voltage for vibration reduction according to the electromagnet acceleration of the suspension electromagnet;

[0039] A third obtaining module is used to obtain a state feedback voltage according to the actual suspension gap and the reference suspension gap;

[0040] The control module is used to control the suspension gap between the suspension electromagnet and the bridge to be the reference suspension gap according to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage.

[0041] Another aspect of the present disclosure provides a train, comprising: the train control device for a maglev train as described above.

[0042] According to the embodiments of the present disclosure, the disturbance active compensation voltage is obtained by utilizing the real-time estimation value of the state and disturbance observer, the active vibration reduction voltage is obtained by active feedback of the acceleration of the suspension electromagnet, and the state feedback voltage is obtained by the actual suspension gap and the reference suspension gap. Based on the disturbance active compensation voltage with active anti-disturbance function, the active vibration reduction voltage with vibration reduction function and the state feedback voltage, the suspension gap between the suspension electromagnet and the bridge can be controlled when some system parameters are unknown, thereby improving the control accuracy of the suspension gap. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0044] Figure 1 A diagram schematically shows an application scenario of a train control method, device and train for a maglev train according to an embodiment of the present disclosure;

[0045] Figure 2 A flow chart of a train control method for a maglev train according to an embodiment of the present disclosure is schematically shown;

[0046] Figure 3A The simulation experiment results of suspension gap control of the train control method for a maglev train according to the embodiment of the present disclosure and the comparative method are schematically shown;

[0047] Figure 3B The simulation experiment results of the levitation electromagnet input voltage of the train control method for a maglev train according to the embodiment of the present disclosure and the comparative method are schematically shown;

[0048] Figure 3C The simulation experiment results of the vertical acceleration of the train control method for a maglev train according to the embodiment of the present disclosure and the comparison method are schematically shown;

[0049] Figure 4 A block diagram of a train control device for a maglev train according to an embodiment of the present disclosure is schematically shown;

[0050] Figure 5 A block diagram schematically shows a train according to an embodiment of the present disclosure; and

[0051] Figure 6 A block diagram of an electronic device suitable for implementing the train control method for a maglev train described above according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0052] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0053] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0054] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0055] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0056] In the embodiments of the present disclosure, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) are in compliance with the provisions of relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and maintain the security of user personal information, network security, and national security.

[0057] In the embodiments of the present disclosure, the user's authorization or consent is obtained before obtaining or collecting the user's personal information.

[0058] The vertical suspension gap control problem of maglev trains is a core part of the design of maglev train systems. Realizing high-precision control of the vertical suspension gap of maglev trains is a prerequisite for the safe operation of maglev trains. However, for the coupling vibration effect between the bridge and the train, the vertical control design method of maglev trains in the related art does not consider targeted solutions. At the same time, the vertical control method of maglev trains in the related art does not actively design a vibration reduction module, and cannot accelerate the oscillation attenuation rate of the acceleration of various components of the train. In addition, the elastic coefficient and other parameters in the vertical system of the maglev train are only known as nominal values, which will cause deviations in actual operation, and some system parameters will be unknown. If the control scheme of the vertical suspension gap of the maglev train is poorly designed, it will cause elastic vibration of various parts of the train, which will not only reduce the control accuracy of the suspension gap, but also destroy the overall stability of the vertical system of the maglev train, affecting the safety of the train. Therefore, it is of great significance to design a control method with vibration reduction function and active counteraction of various uncertainties in the vertical system of the maglev train.

[0059] An embodiment of the present disclosure provides a train control method for a maglev train, comprising: obtaining an actual suspension gap between a suspension electromagnet and a bridge of the maglev train and an actual input voltage of the suspension electromagnet; obtaining a disturbance active compensation voltage for resisting interference based on the actual suspension gap and the actual input voltage using a pre-established state and disturbance observer; obtaining an active vibration reduction voltage for vibration reduction based on the electromagnet acceleration of the suspension electromagnet; obtaining a state feedback voltage based on the actual suspension gap and a reference suspension gap; and controlling the suspension gap between the suspension electromagnet and the bridge to be a reference suspension gap based on the disturbance active compensation voltage, the active vibration reduction voltage, and the state feedback voltage.

[0060] Figure 1 The application scenario diagram of the train control method, device and train for a maglev train according to an embodiment of the present disclosure is schematically shown.

[0061] like Figure 1As shown, the application scenario 100 according to this embodiment may include a first maglev train 110 and a second maglev train 120. The first maglev train 110 and the second maglev train 120 may include a train control device for a maglev train, and the train control device for a maglev train is used to obtain an actual suspension gap between the suspension electromagnet of the maglev train and the bridge and an actual input voltage of the suspension electromagnet; according to the actual suspension gap and the actual input voltage, a disturbance active compensation voltage for resisting interference is obtained using a pre-established state and disturbance observer; according to the electromagnet acceleration of the suspension electromagnet, an active vibration reduction voltage for vibration reduction is obtained; according to the actual suspension gap and the reference suspension gap, a state feedback voltage is obtained; according to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage, the suspension gap between the suspension electromagnet and the bridge is controlled to be a reference suspension gap.

[0062] According to the embodiments of the present disclosure, the maglev train is first analyzed, and a vertical motion model of the maglev train under elastic structure connection and a vertical vibration model of the bridge affected by electromagnetic force are established; then, the integrator series system corresponding to the actual suspension gap is analyzed, and an approximate calculation method for the gain coefficient of the suspension electromagnet input voltage is given; further, a state and disturbance observer is designed, and the first-order derivative, second-order derivative of the actual suspension gap and the total disturbance in the actual suspension gap integrator series system are actively estimated.

[0063] For the body, suspension frame and suspension electromagnet of a single-section maglev train, the vertical motion model of the maglev train under elastic structure connection is established as follows (1):

[0064] (1)

[0065] in, Indicated in The vertical displacement of a single-section maglev train body at time , Indicated in The second-order derivative of the vertical displacement of a single-section maglev train body at time , Indicated in The vertical displacement of the suspension frame of a single-section maglev train at time Indicated in The second-order derivative of the vertical displacement of the suspension frame of a single-section maglev train at time , Indicated in The vertical displacement of the levitation electromagnet of a single-section maglev train at time Indicated in The second-order derivative of the vertical displacement of the suspension electromagnet of a single-section maglev train at time , Indicates the mass of a single-section maglev train body, Indicates the mass of the suspension frame of a single-section maglev train. Indicates the mass of the levitation electromagnet of a single maglev train. represents the acceleration due to gravity, Indicated in The secondary elastic damping force on the body of a single-section maglev train at the moment is Indicated in The secondary elastic damping force on the suspension frame of a single-section maglev train at this moment is: Indicated in The elastic damping force on the suspension frame of a single-section maglev train at this moment is: Indicated in The elastic damping force on the suspension electromagnet of a single-section maglev train at this moment is: Indicated in The electromagnetic force acting on the levitation electromagnet of a single-section maglev train at a given moment.

[0066] It should be noted that all physical quantities appearing in the present disclosure are real numbers.

[0067] in , , , , As shown in formula (2):

[0068] (2)

[0069] in Indicated in The first-order derivative of the vertical displacement of a single-section maglev train body at time , Indicated in The first-order derivative of the vertical displacement of the suspension frame of a single-section maglev train at time , Indicated in The first-order derivative of the vertical displacement of the suspension electromagnet of a single-section maglev train at time , represents the primary elastic coefficient, represents the primary damping coefficient, represents the secondary elastic coefficient, represents the secondary damping coefficient, Indicates the total number of magnetic poles of the levitation electromagnet of a single maglev train. represents the inductance constant, Represents the effective area of ​​a single magnetic pole of the suspension electromagnet, Indicated in The magnetic flux of a single magnetic pole of the levitation electromagnet of a single-section maglev train at the moment. Further, the model of the magnetic flux is established as follows (3):

[0070] (3)

[0071] in, Indicates the number of turns of the suspension electromagnet coil, represents the resistance of the suspended electromagnet, Indicated in The input voltage of the suspension electromagnet at the moment, Indicated in Vertical displacement of the bridge at time t.

[0072] The vertical vibration model of the bridge affected by electromagnetic force is established as follows (4):

[0073] (4)

[0074] in, Indicated in The bridge vibration modal value at time , Indicated in The first-order derivative of the bridge vibration modal value at time , Indicated in The second-order derivative of the bridge vibration modal value at time , represents the length of the bridge, Indicated in The position of a single-car maglev train on the bridge at a given moment. represents pi, represents the damping of the bridge vibration mode, represents the frequency of the bridge vibration mode, represents the beam mass per unit length of the bridge, Indicated in The electromagnetic force on the bridge at the moment satisfies .

[0075] According to an embodiment of the present disclosure, the vertical vibration movement of the bridge and the vertical movement of the maglev train connected with the elastic structure are considered, and an integrator series system corresponding to the actual suspension gap is established.

[0076] First, the actual suspension gap between the bridge and the maglev train suspension electromagnet is defined as follows (5):

[0077] (5)

[0078] in, Indicated in The actual suspension gap between the bridge at that moment and the suspension electromagnet of the maglev train.

[0079] Then establish the actual suspension gap The corresponding integrator series system:

[0080] (6)

[0081] in, Indicated in The third-order derivative of the actual suspension gap between the bridge and the maglev train suspension electromagnet at the moment, Indicated in The gain coefficient of the actual suspension electromagnet input voltage at the moment, Indicated in The actual suspension gap at the moment is the disturbance term in the integrator series system. The gain coefficient of the input voltage of the suspension electromagnet at time satisfy:

[0082] (7)

[0083] Since the mass of the bridge beam per unit length is It is impossible to know exactly where a single maglev train is on the bridge. The magnetic flux of a single pole of the levitation electromagnet of a single maglev train changes in real time and cannot be accurately measured. It is impossible to measure, so it is impossible to accurately calculate the gain coefficient of the suspension electromagnet input voltage through an expression. It is necessary to perform an approximate calculation of the gain coefficient of the suspension electromagnet input voltage. , calculate the magnetic flux in the case of balanced suspension:

[0084] (8)

[0085] in, It represents the magnetic flux of a single pole of the levitation electromagnet of a single-section maglev train under balanced suspension conditions.

[0086] According to the magnetic flux of a single pole of the levitation electromagnet of a single-section maglev train under balanced suspension , calculate the approximate value of the gain factor of the suspension electromagnet input voltage:

[0087] (9)

[0088] in, An approximate value representing the gain factor of the input voltage to the levitation electromagnet.

[0089] Design state and disturbance observers to estimate the first-order derivative and second-order derivative of the actual suspension gap and the total disturbance in the integrator series system corresponding to the actual suspension gap:

[0090] (10)

[0091] in, represents the actual suspension gap obtained by the state and disturbance observer The estimated value of time, Represents the first-order derivative of the actual suspension gap obtained by the state and disturbance observer The estimated value of time, Represents the actual second-order derivative of the suspension gap obtained by the state and disturbance observer The estimated value of time, The sum disturbance in the integrator series system corresponding to the estimated value of the actual suspension gap obtained by the state and disturbance observer is The estimated value of time, is the first observation gain parameter of the state and disturbance observer, is the second observation gain parameter of the state and disturbance observer, is the third observation gain parameter of the state and disturbance observer, is the fourth observation gain parameter of the state and disturbance observer.

[0092] Based on the above analysis, the target input voltage of the suspension electromagnet, which includes the total disturbance active compensation part, the active vibration reduction part and the state feedback part, is proposed.

[0093] Figure 2 A flow chart of a train control method for a maglev train according to an embodiment of the present disclosure is schematically shown.

[0094] like Figure 2 As shown, the method includes operations S210 to S250.

[0095] In operation S210, an actual levitation gap between a levitation electromagnet of a maglev train and a bridge and an actual input voltage of the levitation electromagnet are acquired.

[0096] In operation S220 , a disturbance active compensation voltage for resisting disturbance is obtained by using a pre-established state and disturbance observer according to the actual levitation gap and the actual input voltage.

[0097] In operation S230, an active vibration reduction voltage for vibration reduction is obtained according to the electromagnet acceleration of the suspension electromagnet;

[0098] In operation S240, a state feedback voltage is obtained according to the actual suspension gap and the reference suspension gap;

[0099] In operation S250, a levitation gap between the levitation electromagnet and the bridge is controlled to be a reference levitation gap according to the disturbance active compensation voltage, the active vibration reduction voltage, and the state feedback voltage.

[0100] According to the embodiments of the present disclosure, the actual suspension gap between the suspension electromagnet and the bridge can be measured by a suspension gap sensor, and the actual input voltage of the suspension electromagnet can be obtained by a voltage measuring instrument.

[0101] According to the embodiments of the present disclosure, it can be seen from the above analysis that the state and disturbance observer can estimate and analyze the data during the movement of the maglev train using only the actual suspension gap and the actual input voltage, and can obtain an estimated value of the total disturbance to obtain an active disturbance compensation voltage for resisting interference.

[0102] According to an embodiment of the present disclosure, the electromagnet acceleration of the suspension electromagnet can be measured by an acceleration sensor, and an active vibration reduction voltage for vibration reduction can be obtained based on active feedback of the electromagnet acceleration.

[0103] According to an embodiment of the present disclosure, the reference suspension gap may be a suspension gap expected to be achieved between the maglev train and the bridge, and a state feedback voltage may be obtained according to a difference between the actual suspension gap and the reference suspension gap.

[0104] According to an embodiment of the present disclosure, the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage may be input into the suspension electromagnet, and the suspension gap between the suspension electromagnet and the bridge may be controlled to be a reference suspension gap.

[0105] According to the embodiments of the present disclosure, the disturbance active compensation voltage is obtained by utilizing the real-time estimation value of the state and disturbance observer, the active vibration reduction voltage is obtained by active feedback of the acceleration of the suspension electromagnet, and the state feedback voltage is obtained by the actual suspension gap and the reference suspension gap. Based on the disturbance active compensation voltage with active anti-disturbance function, the active vibration reduction voltage with vibration reduction function and the state feedback voltage, the suspension gap between the suspension electromagnet and the bridge can be controlled when some system parameters are unknown, thereby improving the control accuracy of the suspension gap.

[0106] According to an embodiment of the present disclosure, a disturbance active compensation voltage for resisting interference is obtained based on an actual suspension gap and an actual input voltage using a pre-established state and disturbance observer, including: obtaining an estimated value of the actual suspension gap using a pre-established state and disturbance observer; obtaining an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap based on the estimated value of the actual suspension gap and the actual input voltage; and obtaining an active compensation voltage for resisting interference based on the estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap.

[0107] According to an embodiment of the present disclosure, the state and disturbance observer is established as shown in formula (10). The state and disturbance observer can be calculated by discretization of differential equations, iterative solution and first-order Euler approximation. The state and disturbance observer can be used to obtain an estimated value of the actual suspension gap. According to the estimated value of the actual suspension gap and the actual input voltage, an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap is obtained.

[0108] According to an embodiment of the present disclosure, the estimated value of the total disturbance corresponding to the estimated value of the actual floating gap may be analyzed to obtain a disturbance active compensation voltage for resisting the disturbance.

[0109] According to the embodiments of the present disclosure, the state and disturbance observer can actively estimate the first-order derivative and second-order derivative of the actual suspension gap and the total disturbance in the integrator series system corresponding to the actual suspension gap. At the same time, using the real-time estimated value of the state and disturbance observer, a disturbance active compensation voltage with the function of active compensation for the total disturbance is designed, realizing the function of active anti-disturbance, so that the closed-loop system can cope with the influence of uncertainties such as the vehicle-bridge coupling effect and unknown system parameters.

[0110] According to an embodiment of the present disclosure, the train control method for a maglev train may further include: establishing an integrator series system corresponding to the actual suspension gap according to the actual suspension gap and the actual input voltage.

[0111] According to an embodiment of the present disclosure, an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap is obtained based on the estimated value of the actual suspension gap and the actual input voltage, including: based on the estimated value of the actual suspension gap and the actual input voltage, an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap is obtained using an integrator series system.

[0112] According to an embodiment of the present disclosure, the integrator series system can refer to formula (6), which includes the disturbance term of the actual suspension gap in the integrator series system. Therefore, by using the integrator series system according to the estimated value of the actual suspension gap and the actual input voltage, an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap can be obtained.

[0113] According to the embodiments of the present disclosure, in the face of uncertainties such as unknown parameters of the vertical control system of the maglev train and nonlinear influences such as the vehicle-bridge coupling effect, an integrator series system corresponding to the suspension gap considering the vehicle-bridge coupling is established, thereby reducing the design complexity of the control scheme.

[0114] According to an embodiment of the present disclosure, a state feedback voltage is obtained according to an actual suspension gap and a reference suspension gap, including: using a pre-established state and disturbance observer to obtain an estimated value of the actual suspension gap, an estimated value of the first-order derivative of the actual suspension gap, and an estimated value of the second-order derivative of the actual suspension gap; and obtaining a state feedback voltage according to the actual suspension gap, the reference suspension gap, the first-order derivative of the reference suspension gap, the second-order derivative of the reference suspension gap, the third-order derivative of the reference suspension gap, the estimated value of the first-order derivative of the actual suspension gap, and the estimated value of the second-order derivative of the actual suspension gap.

[0115] According to the embodiments of the present disclosure, the state and disturbance observer can perform real-time estimation. Therefore, the state and disturbance observer can be used to obtain an estimated value of the actual suspension gap, an estimated value of the first-order derivative of the actual suspension gap, and an estimated value of the second-order derivative of the actual suspension gap.

[0116] According to an embodiment of the present disclosure, the reference suspension gap is a desired suspension gap, and therefore, the first-order derivative of the reference suspension gap, the second-order derivative of the reference suspension gap, and the third-order derivative of the reference suspension gap can be directly obtained.

[0117] According to the embodiments of the present disclosure, in the face of uncertainties such as unknown parameters of the vertical control system of the maglev train and nonlinear influences such as the vehicle-bridge coupling effect, the state feedback voltage is obtained through the actual suspension gap, the estimated value of the actual suspension gap, the reference suspension gap and their high-order information, without the need to use unknown parameters, further reducing the design complexity of the control scheme.

[0118] According to an embodiment of the present disclosure, the train control method for a maglev train may further include: obtaining the magnetic flux of a single magnetic pole of the levitation electromagnet according to the force conditions of the maglev train in a balanced suspension state; and obtaining an approximate value of the gain coefficient of the actual input voltage of the levitation electromagnet according to the magnetic flux of the single magnetic pole of the levitation electromagnet.

[0119] According to an embodiment of the present disclosure, the magnetic flux of a single magnetic pole of the levitation electromagnet is obtained according to the force conditions of the maglev train in a balanced suspension state, including: when the maglev train is in a balanced suspension state, the electromagnetic force exerted on the bridge is obtained according to the body mass of the maglev train, the mass of the suspension frame and the mass of the levitation electromagnet; and the magnetic flux of a single magnetic pole of the levitation electromagnet is obtained according to the electromagnetic force exerted on the bridge.

[0120] According to the embodiments of the present disclosure, it can be known from equations (7) to (9) that the gain coefficient is related to the beam mass per unit length of the bridge, the position of a single-section maglev train on the bridge, and the magnetic flux of a single magnetic pole of the levitation electromagnet of the single-section maglev train. However, the beam mass per unit length of the bridge cannot be accurately known, the position of a single-section maglev train on the bridge changes in real time and cannot be accurately measured, and the magnetic flux of a single magnetic pole of the levitation electromagnet of the single-section maglev train cannot be measured. Therefore, the gain coefficient of the input voltage of the levitation electromagnet cannot be accurately calculated by the expression, and an approximate calculation of the gain coefficient of the input voltage of the levitation electromagnet is required. Therefore, by analyzing the force of the maglev train under balanced suspension, the magnetic flux of a single magnetic pole can be obtained, and then the approximate value of the gain coefficient of the actual input voltage of the levitation electromagnet can be obtained.

[0121] According to the embodiments of the present disclosure, an approximate calculation method for the gain coefficient of the input voltage of the suspension electromagnet is provided by analyzing the force conditions of the maglev train under balanced suspension conditions, thereby further reducing the design complexity of the control scheme.

[0122] According to an embodiment of the present disclosure, a disturbance active compensation voltage for resisting interference is obtained based on an actual suspension gap and an actual input voltage using a pre-established state and a disturbance observer, including: based on an approximate value of a gain coefficient of the actual input voltage, the actual suspension gap and the actual input voltage, the disturbance active compensation voltage for resisting interference is obtained using a pre-established state and a disturbance observer.

[0123] According to an embodiment of the present disclosure, the disturbance active compensation voltage in the input voltage control quantity of the suspension electromagnet is designed according to the estimated value obtained by the state and disturbance observer:

[0124] (11)

[0125] in, For The total disturbance active compensation voltage in the suspension electromagnet input voltage control quantity at the moment.

[0126] According to the electromagnet acceleration of the suspension electromagnet, an active vibration reduction voltage for vibration reduction is obtained, including: according to the approximate value of the gain coefficient of the actual input voltage and the electromagnet acceleration of the suspension electromagnet, the active vibration reduction voltage for vibration reduction is obtained.

[0127] According to the embodiments of the present disclosure, the active vibration reduction part in the control amount of the input voltage of the suspension electromagnet is designed by adopting the active feedback of the acceleration of the suspension electromagnet:

[0128] (12)

[0129] in, For The active vibration reduction part of the suspension electromagnet input voltage control quantity at the moment is calculated by the suspension electromagnet acceleration. It is the gain parameter of the active vibration reduction part in the suspension electromagnet input voltage control quantity.

[0130] According to the embodiments of the present disclosure, by designing the active feedback part of the acceleration of the suspension electromagnet, the damping of the elastic oscillation of each component of the maglev train is enhanced, and the oscillation decay speed is accelerated, so that the acceleration of each component of the maglev train can decay to a constant quickly, thereby realizing the function of vibration reduction.

[0131] Obtaining a state feedback voltage according to the actual suspension gap and the reference suspension gap includes: obtaining the state feedback voltage according to an approximate value of a gain coefficient of an actual input voltage, the actual suspension gap and the reference suspension gap.

[0132] Design the state feedback voltage in the input voltage control quantity of the suspension electromagnet:

[0133] (13)

[0134] in, For The state feedback part of the suspension electromagnet input voltage control quantity at the moment, is the first state gain parameter of the state feedback part in the suspension electromagnet input voltage control quantity, is the second state gain parameter of the state feedback part in the suspension electromagnet input voltage control quantity, is the third state gain parameter of the state feedback part in the suspension electromagnet input voltage control quantity, For The reference suspension gap at the moment, For The first derivative of the reference suspension gap at time, For The second derivative of the reference suspension gap at time, For The third derivative of the reference suspension gap at time .

[0135] Finally, the three parts of the suspension electromagnet input voltage control quantity of the disturbance active compensation voltage, active vibration reduction voltage and state feedback voltage are added together to design the target input voltage:

[0136] (14)

[0137] It can be seen from the above formula that although some unknown quantities such as the vertical displacement of the maglev train body, the vertical displacement of the maglev train suspension frame, and the vertical displacement of the suspension electromagnet are mentioned in the analysis of the maglev train, the state and disturbance observer can avoid using these unmeasurable parameters. Only the actual suspension gap and the actual input voltage are needed, and the active vibration reduction voltage used for vibration reduction is obtained according to the electromagnet acceleration of the suspension electromagnet. The design is simple, and vibration reduction is taken into consideration, which improves the control accuracy of the suspension gap.

[0138] The following is a simulation using the train control method for a maglev train according to an embodiment of the present disclosure.

[0139] The basic parameters of the maglev train system are: (kilogram), (kilogram), (kilogram), (m*m), (ohm), (m / (sec*sec)), , , , , , , , , , (rice), (kg / m).

[0140] Considering the levitation control task of the maglev train, the initial value of the actual suspension gap between the bridge and the levitation electromagnet of the maglev train is (m), the reference suspension clearance is (rice).

[0141] According to the basic parameters of the maglev train system, the vertical motion model of the maglev train under elastic structure connection is established:

[0142] (15)

[0143] Establish , , , , The expression and model of magnetic flux:

[0144] (16)

[0145] Establish a vertical vibration model of a bridge affected by electromagnetic force:

[0146] (17)

[0147] The definition of the actual suspension gap between the bridge and the levitation electromagnet of the maglev train is given as:

[0148] (18)

[0149] And establish the actual suspension gap The corresponding integrator series system:

[0150] (19)

[0151] Approximate calculation of the gain coefficient of the input voltage of the suspension electromagnet: First, according to the force under balanced suspension , calculate the magnetic flux in the case of balanced suspension:

[0152] (20)

[0153] Then, according to the magnetic flux of a single magnetic pole of the levitation electromagnet of a single-section maglev train under balanced suspension conditions, , calculate the approximate value of the gain factor of the suspension electromagnet input voltage:

[0154] (twenty one)

[0155] Then, the state and disturbance observer is designed to estimate the first-order derivative, second-order derivative of the actual suspension gap and the total disturbance in the integrator series system corresponding to the actual suspension gap:

[0156] (twenty two)

[0157] Among them, the gain parameters of the state and disturbance observers are selected as: , , and .

[0158] The disturbance active compensation voltage is:

[0159] (twenty three)

[0160] The active vibration reduction voltage is:

[0161] (twenty four)

[0162] Among them, the gain parameter of the active vibration reduction part is selected as .

[0163] Furthermore, the state feedback part of the suspension electromagnet input voltage control quantity is designed:

[0164] (25)

[0165] The gain parameter of the state feedback part is selected as , and .

[0166] A comparative simulation experiment is performed below between the train control method for a maglev train according to an embodiment of the present disclosure and the proportional-integral-differential control method in the related art.

[0167] Figure 3A The simulation experiment results of suspension gap control of the train control method for a maglev train according to an embodiment of the present disclosure and a comparative method are schematically shown.

[0168] Figure 3B The simulation experiment results of the levitation electromagnet input voltage of the train control method for a maglev train according to an embodiment of the present disclosure and a comparative method are schematically shown.

[0169] Figure 3C The simulation experiment results of the vertical acceleration of the train control method for a maglev train according to an embodiment of the present disclosure and a comparative method are schematically shown.

[0170] like Figure 3A Although the proportional-integral-differential control method can achieve the suspension gap control task requirements, it will cause significant oscillation. The train control method for maglev trains disclosed in the present invention has higher suspension gap control accuracy and reduces the oscillation of the suspension gap. Figure 3B As shown, the levitation electromagnet input voltage value oscillation under the train control method for maglev train disclosed in the present invention is smaller, and the voltage value is more stable. Figure 3C As shown, the train control method for a maglev train disclosed in the present invention can slow down the oscillation of the vertical acceleration of the levitation electromagnet and the levitation frame, thus achieving a vibration reduction effect.

[0171] Figure 4 A block diagram of a train control device for a maglev train according to an embodiment of the present disclosure is schematically shown.

[0172] like Figure 4 As shown, the train control device 400 for a maglev train includes an acquisition module 410 , a first obtaining module 420 , a second obtaining module 430 , a third obtaining module 440 and a control module 450 .

[0173] The acquisition module 410 is used to acquire the actual suspension gap between the suspension electromagnet of the maglev train and the bridge and the actual input voltage of the suspension electromagnet.

[0174] The first obtaining module 420 is used to obtain a disturbance active compensation voltage for resisting disturbance according to the actual suspension gap and the actual input voltage by using a pre-established state and disturbance observer.

[0175] The second obtaining module 430 is used to obtain an active vibration reduction voltage for vibration reduction according to the electromagnet acceleration of the suspension electromagnet.

[0176] The third obtaining module 440 is used to obtain a state feedback voltage according to the actual suspension gap and the reference suspension gap.

[0177] The control module 450 is used to control the suspension gap between the suspension electromagnet and the bridge to be a reference suspension gap according to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage.

[0178] According to an embodiment of the present disclosure, a first obtaining module 420 for obtaining a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to an actual suspension gap and an actual input voltage includes:

[0179] A first obtaining unit is used to obtain an estimated value of an actual suspension gap by using a pre-established state and disturbance observer;

[0180] a second obtaining unit, configured to obtain an estimated value of a total disturbance corresponding to the estimated value of the actual suspension gap according to the estimated value of the actual suspension gap and the actual input voltage;

[0181] The third obtaining unit is used to obtain a disturbance active compensation voltage for resisting interference according to the estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap.

[0182] According to an embodiment of the present disclosure, the train control device 400 for a maglev train further includes:

[0183] A module is established, which is used to establish an integrator series system corresponding to the actual suspension gap according to the actual suspension gap and the actual input voltage.

[0184] According to an embodiment of the present disclosure, a second obtaining unit for obtaining an estimated value of a total disturbance corresponding to an estimated value of the actual floating gap according to an estimated value of the actual floating gap and an actual input voltage includes:

[0185] The obtaining subunit is used to obtain an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap by using an integrator series system according to the estimated value of the actual suspension gap and the actual input voltage.

[0186] According to an embodiment of the present disclosure, the third obtaining module 440 for obtaining the state feedback voltage according to the actual suspension gap and the reference suspension gap includes:

[0187] A fourth obtaining unit is used to obtain an estimated value of the actual suspension gap, an estimated value of the first-order derivative of the actual suspension gap, and an estimated value of the second-order derivative of the actual suspension gap by using a pre-established state and disturbance observer;

[0188] The fifth obtaining unit is used to obtain a state feedback voltage according to the actual suspension gap, the reference suspension gap, the first-order derivative of the reference suspension gap, the second-order derivative of the reference suspension gap, the third-order derivative of the reference suspension gap, the estimated value of the first-order derivative of the actual suspension gap, and the estimated value of the second-order derivative of the actual suspension gap.

[0189] According to an embodiment of the present disclosure, the train control device 400 for a maglev train further includes:

[0190] The fourth obtaining module is used to obtain the magnetic flux of a single magnetic pole of the suspension electromagnet according to the force condition of the maglev train in a balanced suspension condition;

[0191] The fifth obtaining module is used to obtain an approximate value of a gain coefficient of an actual input voltage of the levitation electromagnet according to the magnetic flux of a single magnetic pole of the levitation electromagnet.

[0192] According to an embodiment of the present disclosure, a fourth obtaining module for obtaining the magnetic flux of a single magnetic pole of a suspension electromagnet according to the force condition of the maglev train in a balanced suspension condition includes:

[0193] A sixth obtaining unit is used to obtain the electromagnetic force on the bridge according to the body mass of the magnetic levitation train, the mass of the suspension frame and the mass of the suspension electromagnet when the magnetic levitation train is in balanced suspension;

[0194] The seventh obtaining unit is used to obtain the magnetic flux of a single magnetic pole of the suspension electromagnet according to the electromagnetic force acting on the bridge.

[0195] According to an embodiment of the present disclosure, a first obtaining module 420 for obtaining a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to an actual suspension gap and an actual input voltage includes:

[0196] An eighth obtaining unit is used to obtain a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to an approximate value of a gain coefficient of an actual input voltage, an actual suspension gap and an actual input voltage;

[0197] The second obtaining module 430 for obtaining an active vibration reduction voltage for vibration reduction according to the electromagnet acceleration of the suspension electromagnet includes:

[0198] A ninth obtaining unit, used for obtaining an active vibration reduction voltage for vibration reduction according to an approximate value of a gain coefficient of an actual input voltage and an electromagnet acceleration of a suspension electromagnet;

[0199] The third obtaining module 430 for obtaining the state feedback voltage according to the actual suspension gap and the reference suspension gap includes:

[0200] The tenth obtaining unit is used to obtain the state feedback voltage according to the approximate value of the gain coefficient of the actual input voltage, the actual suspension gap and the reference suspension gap.

[0201] According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits, or at least part of the functions of any one of them can be implemented in one module. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be split into multiple modules for implementation. According to the embodiments of the present invention, any one or more of the modules, submodules, units, and subunits can be at least partially implemented as hardware circuits, such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), systems on chips, systems on substrates, systems on packages, application specific integrated circuits (ASICs), or can be implemented by hardware or firmware in any other reasonable way of integrating or packaging circuits, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or in any appropriate combination of any of them. Alternatively, according to the embodiments of the present invention, one or more of the modules, submodules, units, and subunits can be at least partially implemented as computer program modules, and when the computer program modules are run, the corresponding functions can be performed.

[0202] For example, any of the acquisition module 410, the first acquisition module 420, the second acquisition module 430, the third acquisition module 440 and the control module 450 can be combined in one module / unit / sub-unit for implementation, or any of the modules / units / sub-units can be split into multiple modules / units / sub-units. Alternatively, at least part of the functions of one or more of these modules / units / sub-units can be combined with at least part of the functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present disclosure, at least one of the acquisition module 410, the first acquisition module 420, the second acquisition module 430, the third acquisition module 440 and the control module 450 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or by any one of the three implementation methods of software, hardware and firmware or by a suitable combination of any of them. Alternatively, at least one of the acquisition module 410, the first obtaining module 420, the second obtaining module 430, the third obtaining module 440 and the control module 450 may be at least partially implemented as a computer program module, which may perform corresponding functions when executed.

[0203] It should be noted that the train control device part for maglev trains in the embodiments of the present disclosure corresponds to the train control method part for maglev trains in the embodiments of the present disclosure. The description of the train control device part for maglev trains specifically refers to the train control method part for maglev trains, which will not be repeated here.

[0204] Figure 5 A block diagram of a train according to an embodiment of the present disclosure is schematically shown.

[0205] like Figure 5 As shown, the train 500 includes a train control device 510 for a maglev train according to an embodiment of the present disclosure.

[0206] Figure 6 A block diagram of an electronic device suitable for implementing the train control method for a maglev train described above according to an embodiment of the present disclosure is schematically shown. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0207] like Figure 6As shown, the electronic device 600 according to an embodiment of the present disclosure includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 to a random access memory (RAM) 603. The processor 601 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 601 may also include an onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0208] In RAM 603, various programs and data required for the operation of electronic device 600 are stored. Processor 601, ROM 602 and RAM 603 are connected to each other via bus 604. Processor 601 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 602 and / or RAM 603. It should be noted that the program can also be stored in one or more memories other than ROM 602 and RAM 603. Processor 601 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0209] According to an embodiment of the present disclosure, the electronic device 600 may further include an input / output (I / O) interface 605, which is also connected to the bus 604. The electronic device 600 may further include one or more of the following components connected to the input / output (I / O) interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAN card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the input / output (I / O) interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

[0210] According to an embodiment of the present disclosure, the method flow according to an embodiment of the present disclosure can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the processor 601, the above-mentioned functions defined in the system of the embodiment of the present disclosure are executed. According to an embodiment of the present disclosure, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0211] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0212] According to an embodiment of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include, but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device.

[0213] For example, according to an embodiment of the present disclosure, the computer-readable storage medium may include the ROM 602 and / or the RAM 603 described above and / or one or more memories other than the ROM 602 and the RAM 603 .

[0214] An embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains a program code for executing the method provided by the embodiment of the present disclosure. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the train control method for a maglev train provided by the embodiment of the present disclosure.

[0215] When the computer program is executed by the processor 501, the above functions defined in the system / device of the embodiment of the present disclosure are executed. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0216] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 609, and / or installed from a removable medium 611. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0217] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0218] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments of the present disclosure can be combined and / or combined in a variety of ways, even if such a combination or combination is not explicitly recorded in the present disclosure. In particular, without departing from the spirit and teaching of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0219] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A train control method for a maglev train, comprising: Acquire the actual suspension gap between the suspension electromagnet of the maglev train and the bridge and the actual input voltage of the suspension electromagnet; According to the actual suspension gap and the actual input voltage, a disturbance active compensation voltage for resisting disturbance is obtained by using a pre-established state and disturbance observer; According to the electromagnet acceleration of the suspension electromagnet, an active vibration reduction voltage for vibration reduction is obtained; Obtaining a state feedback voltage according to the actual suspension gap and the reference suspension gap; According to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage, the suspension gap between the suspension electromagnet and the bridge is controlled to be the reference suspension gap.

2. The method according to claim 1, wherein: The method of obtaining a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to the actual suspension gap and the actual input voltage comprises: Using a pre-established state and disturbance observer, an estimated value of the actual suspension gap is obtained; Obtaining, according to the estimated value of the actual suspension gap and the actual input voltage, an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap; The disturbance active compensation voltage for resisting interference is obtained according to the estimated value of the total disturbance corresponding to the estimated value of the actual floating gap.

3. The method according to claim 2, further comprising: According to the actual suspension gap and the actual input voltage, an integrator series system corresponding to the actual suspension gap is established.

4. The method according to claim 3, wherein: The obtaining, according to the estimated value of the actual suspension gap and the actual input voltage, an estimated value of the total disturbance corresponding to the estimated value of the actual suspension gap includes: According to the estimated value of the actual floating gap and the actual input voltage, the estimated value of the total disturbance corresponding to the estimated value of the actual floating gap is obtained by using the integrator series system.

5. The method according to claim 2, wherein: The obtaining of a state feedback voltage according to the actual suspension gap and the reference suspension gap includes: Using a pre-established state and disturbance observer, an estimated value of the actual suspension gap, an estimated value of a first-order derivative of the actual suspension gap, and an estimated value of a second-order derivative of the actual suspension gap are obtained; The state feedback voltage is obtained according to the actual suspension gap, the reference suspension gap, the first-order derivative of the reference suspension gap, the second-order derivative of the reference suspension gap, the third-order derivative of the reference suspension gap, the estimated value of the first-order derivative of the actual suspension gap, and the estimated value of the second-order derivative of the actual suspension gap.

6. The method according to any one of claims 1 to 5, further comprising: According to the force condition of the magnetic levitation train in a balanced suspension condition, the magnetic flux of a single magnetic pole of the levitation electromagnet is obtained; According to the magnetic flux of a single magnetic pole of the levitation electromagnet, an approximate value of a gain coefficient of an actual input voltage of the levitation electromagnet is obtained.

7. The method according to claim 6, wherein: The method of obtaining the magnetic flux of a single magnetic pole of the suspension electromagnet according to the force condition of the maglev train in a balanced suspension condition comprises: When the maglev train is in balanced suspension, the electromagnetic force on the bridge is obtained according to the body mass of the maglev train, the mass of the suspension frame and the mass of the suspension electromagnet; The magnetic flux of a single magnetic pole of the suspension electromagnet is obtained according to the electromagnetic force applied to the bridge.

8. The method according to claim 6, wherein: The method of obtaining a disturbance active compensation voltage for resisting disturbance by using a pre-established state and disturbance observer according to the actual suspension gap and the actual input voltage comprises: According to the approximate value of the gain coefficient of the actual input voltage, the actual suspension gap and the actual input voltage, using a pre-established state and disturbance observer, the disturbance active compensation voltage for resisting interference is obtained; Wherein, obtaining an active vibration reduction voltage for vibration reduction according to the electromagnet acceleration of the suspension electromagnet includes: Obtaining the active vibration reduction voltage for vibration reduction according to an approximate value of a gain coefficient of the actual input voltage and an electromagnet acceleration of the suspension electromagnet; The step of obtaining a state feedback voltage according to the actual suspension gap and the reference suspension gap includes: A state feedback voltage is obtained according to an approximate value of a gain coefficient of the actual input voltage, the actual suspension gap and a reference suspension gap.

9. The method according to any one of claims 1 to 5, wherein The actual suspension gap is measured by a suspension gap sensor, and the electromagnet acceleration of the suspension electromagnet is measured by an acceleration sensor.

10. A train control device for a maglev train, comprising: An acquisition module, used to acquire an actual suspension gap between a suspension electromagnet of a maglev train and a bridge and an actual input voltage of the suspension electromagnet; A first obtaining module is used to obtain a disturbance active compensation voltage for resisting interference by using a pre-established state and disturbance observer according to the actual suspension gap and the actual input voltage; A second obtaining module is used to obtain an active vibration reduction voltage for vibration reduction according to the electromagnet acceleration of the suspension electromagnet; A third obtaining module is used to obtain a state feedback voltage according to the actual suspension gap and the reference suspension gap; A control module is used to control the suspension gap between the suspension electromagnet and the bridge to be the reference suspension gap according to the disturbance active compensation voltage, the active vibration reduction voltage and the state feedback voltage.

11. A train comprising: The device as claimed in claim 10.

Images