Positioning speed measurement position identification method and system for high-speed magnetic levitation vehicle

Abstract

The invention relates to the technical field of magnetic levitation traction control, in particular to a high-speed magnetic levitation vehicle positioning speed measurement position identification method and system. The method comprises the steps that an antenna unit is arranged on the high-speed magnetic levitation vehicle, and the antenna unit comprises a transmitting antenna and a receiving antenna; a high-frequency current is introduced into the transmitting antenna to generate a magnetic field, an induced current is generated in the suspension coil on the same side as the transmitting antenna along with the operation of the aircraft, and the induced current flows into the suspension coil on the opposite side on the same side as the receiving antenna through a hinge line, so that the suspension coil on the opposite side generates an induced electromotive force in the receiving antenna; and determining the relative position information of the high-speed magnetic levitation vehicle according to the generated induced electromotive force. Therefore, the transmitting antenna can be coupled with the suspension coil, and the voltage signal changing along with the position can be sensed in the receiving antenna, so that angle extraction is carried out by utilizing the voltage signal, and finally, the positioning and speed measurement of the high-speed magnetic suspension aircraft are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation traction control, and in particular to a method and system for positioning, speed measurement and position identification of a high-speed magnetic levitation vehicle. Background Art

[0002] The on-board zero-flux positioning speed measurement draws on the design concept of the rotary transformer. The rotary transformer is a position sensor whose output voltage changes with the rotor angle. The rotor winding is the excitation winding, and the excitation signal on it is obtained through the magnetic field coupling of the brush or stator. The two-phase stator windings are placed orthogonally to each other to generate sine and cosine signals. When the excitation winding is excited by an AC voltage of a certain frequency, the voltage amplitude of the output winding is in a positive and cosine function relationship with the rotor angle. Based on the principle of the rotary transformer, the on-board zero-flux positioning speed measurement solution realizes the function of relative positioning by expanding the rotary transformer rotary motor into a linear motor, considering the spatial position to be set as two sets of orthogonal signals, and using the existing zero-flux coil for angle acquisition.

[0003] For permanent magnet synchronous rotating motors, a rotary transformer is often used for position identification. A high-frequency signal is passed through the excitation winding to obtain orthogonal sine and cosine signals, thereby obtaining angle information.

[0004] The rotary transformer is mainly used in rotary motors, and there is no corresponding method to apply it to linear motors. In addition, since there is no iron core in the linear motor, a DC component will exist in the received signal. Summary of the invention

[0005] The present invention provides a high-speed magnetic levitation vehicle positioning speed measurement position identification method and system, which can solve the technical problems in the prior art.

[0006] The present invention provides a method for identifying a high-speed magnetic levitation vehicle's positioning speed measurement position, wherein the method comprises:

[0007] An antenna unit is arranged on the high-speed maglev vehicle, wherein the antenna unit comprises a transmitting antenna and a receiving antenna;

[0008] A high-frequency current is passed through the transmitting antenna to generate a magnetic field. As the spacecraft moves, an induced current is generated in the suspension coil on the same side as the transmitting antenna. The induced current flows through the hinge line into the suspension coil on the opposite side as the receiving antenna, thereby generating an induced electromotive force in the receiving antenna by the suspension coil on the opposite side.

[0009] The relative position information of the high-speed maglev vehicle is determined based on the generated induced electromotive force.

[0010] Preferably, the transmitting antenna includes a first transmitting antenna and a second transmitting antenna, the receiving antenna includes a first receiving antenna and a second receiving antenna corresponding to the first transmitting antenna and a third receiving antenna and a fourth receiving antenna corresponding to the second transmitting antenna, the first receiving antenna and the second receiving antenna differ in spatial position by 180 degrees, the third receiving antenna and the fourth receiving antenna differ in spatial position by 180 degrees, and the first receiving antenna and the third receiving antenna differ in spatial position by 90 degrees.

[0011] Preferably, determining the relative position relationship of the high-speed maglev vehicle according to the generated induced electromotive force comprises:

[0012] Subtracting the induced electromotive force y1 generated by the first receiving antenna from the induced electromotive force y2 generated by the second receiving antenna to obtain an AC amplitude signal y1-2 without a DC component;

[0013] Subtracting the induced electromotive force y3 generated by the third receiving antenna from the induced electromotive force y4 generated by the fourth receiving antenna to obtain an AC amplitude signal y3-4 without a DC component;

[0014] Perform low-pass filtering on the AC amplitude signal y1-2 without a DC component and the AC amplitude signal y3-4 without a DC component to obtain a high-frequency sine signal y1-2_lpf and a high-frequency cosine signal y3-4_lpf that are orthogonal to each other;

[0015] The high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf are digitally processed to obtain the relative position of the high-speed maglev vehicle.

[0016] Preferably, the AC amplitude signal y1-2 without a DC component and the AC amplitude signal y3-4 without a DC component are expressed by the following formula:

[0017]

[0018] Among them, c is the signal amplitude after subtraction, θ is the angle signal containing relative position information, and ω is the angular frequency of the high-frequency signal.

[0019] Preferably, the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf are expressed by the following formula:

[0020]

[0021] Where d is the signal amplitude after low-pass filtering.

[0022] Preferably, digitally processing the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf to obtain the relative position of the high-speed maglev vehicle comprises:

[0023] The arc tangent of the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf is calculated to obtain the relative position of the high-speed maglev vehicle.

[0024] An embodiment of the present invention provides a high-speed magnetic levitation vehicle positioning speed measurement position identification system, wherein the system comprises:

[0025] An antenna unit is arranged on the high-speed maglev vehicle, and the antenna unit includes a transmitting antenna and a receiving antenna;

[0026] An inverter is used to pass a high-frequency current through the transmitting antenna to generate a magnetic field. As the aircraft moves, an induced current is generated in the suspension coil on the same side as the transmitting antenna. The induced current flows through the hinge line into the suspension coil on the opposite side as the receiving antenna, so that the suspension coil on the opposite side generates an induced electromotive force in the receiving antenna.

[0027] A positioning device is used to determine the relative position information of a high-speed maglev vehicle based on the generated induced electromotive force.

[0028] Preferably, the transmitting antenna includes a first transmitting antenna and a second transmitting antenna, the receiving antenna includes a first receiving antenna and a second receiving antenna corresponding to the first transmitting antenna and a third receiving antenna and a fourth receiving antenna corresponding to the second transmitting antenna, the first receiving antenna and the second receiving antenna differ in spatial position by 180 degrees, the third receiving antenna and the fourth receiving antenna differ in spatial position by 180 degrees, and the first receiving antenna and the third receiving antenna differ in spatial position by 90 degrees.

[0029] Through the above technical solution, the transmitting antenna can be coupled with the suspension coil to sense a voltage signal that changes with the position in the receiving antenna, so that the voltage signal can be used to extract the angle, and finally the positioning and speed measurement of the high-speed maglev vehicle can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1A diagram showing an antenna unit arrangement according to an embodiment of the present invention is shown;

[0032] Figure 2A-2C A schematic diagram of receiving antenna data processing according to an embodiment of the present invention is shown;

[0033] Figures 3A-3C A schematic diagram of angle processing according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions 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 only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in 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.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0036] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0037] An embodiment of the present invention provides a method for identifying a high-speed magnetic levitation vehicle's positioning speed measurement position, wherein the method comprises:

[0038] An antenna unit is arranged on the high-speed maglev vehicle, wherein the antenna unit comprises a transmitting antenna and a receiving antenna;

[0039] A high-frequency current is passed through the transmitting antenna to generate a magnetic field. As the spacecraft moves (forward), an induced current is generated in a suspension coil (for example, a zero magnetic flux coil) on the same side as the transmitting antenna. The induced current flows through a hinge line into a suspension coil on the opposite side of the receiving antenna, thereby generating an induced electromotive force in the receiving antenna in the suspension coil on the opposite side.

[0040] The relative position information of the high-speed maglev vehicle is determined based on the generated induced electromotive force.

[0041] For example, as the coupling area with the zero flux coil changes, the amplitude of the induced electromotive force in the receiving antenna changes periodically, and the relative position information of the aircraft can be obtained by obtaining the effective signal in the amplitude.

[0042] Through the above technical solution, the transmitting antenna can be coupled with the suspension coil to sense a voltage signal that changes with the position in the receiving antenna, so that the voltage signal can be used to extract the angle, and finally the positioning and speed measurement of the high-speed maglev vehicle can be achieved.

[0043] The high-speed maglev vehicle may be, for example, a high-speed maglev train, the antenna unit is arranged on the train, and the zero flux coil is arranged on the ground. Thus, by coupling the transmitting antenna and the receiving antenna with the zero flux coil, the position is located by utilizing the change of the coupling area.

[0044] According to an embodiment of the present invention, Figure 1 As shown, the transmitting antenna includes a first transmitting antenna (transmitting antenna 1) and a second transmitting antenna (transmitting antenna 2), the receiving antenna includes a first receiving antenna (receiving antenna 1) and a second receiving antenna (receiving antenna 2) corresponding to the first transmitting antenna, and a third receiving antenna (receiving antenna 3) and a fourth receiving antenna (receiving antenna 4) corresponding to the second transmitting antenna, the first receiving antenna and the second receiving antenna differ in spatial position by 180 degrees, the third receiving antenna and the fourth receiving antenna differ in spatial position by 180 degrees, and the first receiving antenna and the third receiving antenna differ in spatial position by 90 degrees.

[0045] The first transmitting antenna, the first receiving antenna and the second receiving antenna form a first antenna group; the second transmitting antenna, the third receiving antenna and the fourth receiving antenna form a second antenna group.

[0046] A high-frequency current is passed through the first transmitting antenna to generate a magnetic field, and the first receiving antenna and the second receiving antenna generate induced electromotive force accordingly. A high-frequency current is passed through the second transmitting antenna to generate a magnetic field, and the third receiving antenna and the fourth receiving antenna generate induced electromotive force accordingly.

[0047] Among them, the induced electromotive force of the first receiving antenna, the induced electromotive force of the second receiving antenna, the induced electromotive force of the third receiving antenna and the induced electromotive force of the fourth receiving antenna are shown as follows:

[0048]

[0049]

[0050] Wherein, y1 is the induced electromotive force of the first receiving antenna, y2 is the induced electromotive force of the second receiving antenna, y3 is the induced electromotive force of the third receiving antenna, y4 is the induced electromotive force of the fourth receiving antenna, a is the amplitude of the induced electromotive force, θ is the angle signal containing position information, b is the DC bias of the induced electromotive force, and ω is the angular frequency of the high-frequency signal.

[0051] According to one embodiment of the present invention, determining the relative position relationship of the high-speed maglev vehicle according to the generated induced electromotive force includes:

[0052] Subtracting the induced electromotive force y1 generated by the first receiving antenna from the induced electromotive force y2 generated by the second receiving antenna to obtain an AC amplitude signal y1-2 without a DC component;

[0053] Subtracting the induced electromotive force y3 generated by the third receiving antenna from the induced electromotive force y4 generated by the fourth receiving antenna to obtain an AC amplitude signal y3-4 without a DC component;

[0054] The AC amplitude signal y1-2 without a DC component and the AC amplitude signal y3-4 without a DC component are low-pass filtered to obtain a mutually orthogonal high-frequency sine signal y1-2_lpf (i.e., a sine signal after low-pass filtering) and a high-frequency cosine signal y3-4_lpf (i.e., a cosine signal after low-pass filtering);

[0055] The high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf are digitally processed to obtain the relative position of the high-speed maglev vehicle.

[0056] That is, two orthogonal groups of signals are obtained through two groups of antennas, thereby obtaining sine signals and cosine signals, and further obtaining position information, thereby realizing the function of relative positioning.

[0057] The schematic diagram of the signal of the first receiving antenna and the signal of the second receiving antenna is as follows: Figure 2A and 2BAs shown, the signal amplitudes obtained by the first and second receiving antennas present an AC component with a DC component, and the magnitude of the DC component b is related to the air gap and the movement speed. By subtracting the first receiving antenna from the second receiving antenna, an AC amplitude signal y1-2 (sinusoidal signal) without a DC component can be obtained, as shown in FIG. Figure 2C Similarly, the corresponding cosine signal y3-4 can be obtained by subtracting the third receiving antenna from the fourth receiving antenna.

[0058] According to an embodiment of the present invention, the AC amplitude signal y1-2 without a DC component and the AC amplitude signal y3-4 without a DC component are expressed by the following formula:

[0059]

[0060] Among them, c is the signal amplitude after subtraction, θ is the angle signal containing relative position information, and ω is the angular frequency of the high-frequency signal.

[0061] According to an embodiment of the present invention, the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf are represented by the following formula:

[0062]

[0063] Where d is the signal amplitude after low-pass filtering.

[0064] According to an embodiment of the present invention, digitally processing the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf to obtain the relative position of the high-speed maglev vehicle includes:

[0065] The arc tangent of the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf is calculated to obtain the relative position of the high-speed maglev vehicle.

[0066] That is, the angle signal θ can be obtained by taking the arc tangent of the sine signal and the cosine signal, as Figure 3A-3B As shown, the envelope of the high-frequency sine signal and the high-frequency cosine signal is used to obtain the angle information, such as Figure 3C As shown, the positioning and speed measurement of the aircraft are realized.

[0067] The embodiment of the present invention further provides a high-speed magnetic levitation vehicle positioning speed measurement position identification system, wherein the system comprises:

[0068] An antenna unit is arranged on the high-speed maglev vehicle, and the antenna unit includes a transmitting antenna and a receiving antenna;

[0069] A power supply, used to pass a high-frequency current through the transmitting antenna to generate a magnetic field, and as the aircraft moves, an induced current is generated in the suspension coil on the same side as the transmitting antenna, and the induced current flows through the hinge line into the suspension coil on the opposite side as the receiving antenna, so that the suspension coil on the opposite side generates an induced electromotive force in the receiving antenna;

[0070] A positioning device is used to determine the relative position information of a high-speed maglev vehicle based on the generated induced electromotive force.

[0071] Through the above technical solution, an antenna unit can be set on the high-speed maglev vehicle, and the transmitting antenna can be coupled with the suspension coil to sense a voltage signal that changes with the position in the receiving antenna, so that the voltage signal can be used to extract the angle, and finally the positioning and speed measurement of the high-speed maglev vehicle can be realized.

[0072] According to one embodiment of the present invention, the transmitting antenna includes a first transmitting antenna and a second transmitting antenna, the receiving antenna includes a first receiving antenna and a second receiving antenna corresponding to the first transmitting antenna and a third receiving antenna and a fourth receiving antenna corresponding to the second transmitting antenna, the first receiving antenna and the second receiving antenna differ in spatial position by 180 degrees, the third receiving antenna and the fourth receiving antenna differ in spatial position by 180 degrees, and the first receiving antenna and the third receiving antenna differ in spatial position by 90 degrees.

[0073] The above-mentioned system corresponds to the above-mentioned method. For specific examples, reference can be made to the above-mentioned description of the method, which will not be repeated here.

[0074] In one example of the present invention, the inverter is controlled to output a 50 kHz sinusoidal high frequency signal to the transmitting antenna, and through the coupling of the zero flux coil, the voltage measured in the receiving antenna is also a 50 kHz sinusoidal signal.

[0075] Since both the transmitting antenna and the receiving antenna are installed on the high-speed maglev vehicle, and the zero flux coil is installed on the ground, as the vehicle moves forward, the coupling area between the receiving antenna and the zero flux coil changes periodically, and the amplitude of the high-frequency signal obtained in the receiving antenna also changes periodically.

[0076] Therefore, by utilizing two sets of antenna units, the DC component in the receiving antenna is removed by signal subtraction to obtain a high-frequency sine signal and a high-frequency cosine signal, and the angle information is obtained by signal processing, thereby realizing the high-speed maglev vehicle-mounted positioning and speed measurement function.

[0077] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0078] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0079] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for identifying the position of a high-speed magnetic levitation vehicle, characterized in that: The method includes: An antenna unit is arranged on the high-speed maglev vehicle, wherein the antenna unit comprises a transmitting antenna and a receiving antenna; A high-frequency current is passed through the transmitting antenna to generate a magnetic field. As the spacecraft moves, an induced current is generated in the suspension coil on the same side as the transmitting antenna. The induced current flows through the hinge line into the suspension coil on the opposite side as the receiving antenna, thereby generating an induced electromotive force in the receiving antenna by the suspension coil on the opposite side. The relative position information of the high-speed maglev vehicle is determined based on the generated induced electromotive force.

2. The method according to claim 1, characterized in that: The transmitting antenna includes a first transmitting antenna and a second transmitting antenna, the receiving antenna includes a first receiving antenna and a second receiving antenna corresponding to the first transmitting antenna and a third receiving antenna and a fourth receiving antenna corresponding to the second transmitting antenna, the first receiving antenna and the second receiving antenna differ in spatial position by 180 degrees, the third receiving antenna and the fourth receiving antenna differ in spatial position by 180 degrees, and the first receiving antenna and the third receiving antenna differ in spatial position by 90 degrees.

3. The method according to claim 2, characterized in that Determining the relative position relationship of the high-speed maglev vehicle based on the generated induced electromotive force includes: Subtracting the induced electromotive force y1 generated by the first receiving antenna from the induced electromotive force y2 generated by the second receiving antenna to obtain an AC amplitude signal y1-2 without a DC component; Subtracting the induced electromotive force y3 generated by the third receiving antenna from the induced electromotive force y4 generated by the fourth receiving antenna to obtain an AC amplitude signal y3-4 without a DC component; Perform low-pass filtering on the AC amplitude signal y1-2 without a DC component and the AC amplitude signal y3-4 without a DC component to obtain a high-frequency sine signal y1-2_lpf and a high-frequency cosine signal y3-4_lpf that are orthogonal to each other; The high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf are digitally processed to obtain the relative position of the high-speed maglev vehicle.

4. The method according to claim 3, characterized in that The AC amplitude signal y1-2 without a DC component and the AC amplitude signal y3-4 without a DC component are expressed by the following formula: Among them, c is the signal amplitude after subtraction, θ is the angle signal containing relative position information, and ω is the angular frequency of the high-frequency signal.

5. The method according to claim 4, characterized in that The high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf are expressed by the following formula: Where d is the signal amplitude after low-pass filtering.

6. The method according to claim 5, characterized in that Digitally processing the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf to obtain the relative position of the high-speed maglev vehicle includes: The arc tangent of the high-frequency sine signal y1-2_lpf and the high-frequency cosine signal y3-4_lpf is calculated to obtain the relative position of the high-speed maglev vehicle.

7. A high-speed magnetic levitation vehicle positioning, speed measurement and position identification system, characterized in that: The system includes: An antenna unit is arranged on the high-speed maglev vehicle, and the antenna unit includes a transmitting antenna and a receiving antenna; An inverter is used to pass a high-frequency current through the transmitting antenna to generate a magnetic field. As the aircraft moves, an induced current is generated in the suspension coil on the same side as the transmitting antenna. The induced current flows through the hinge line into the suspension coil on the opposite side as the receiving antenna, so that the suspension coil on the opposite side generates an induced electromotive force in the receiving antenna. A positioning device is used to determine the relative position information of a high-speed maglev vehicle based on the generated induced electromotive force.

8. The system according to claim 6, characterized in that The transmitting antenna includes a first transmitting antenna and a second transmitting antenna, the receiving antenna includes a first receiving antenna and a second receiving antenna corresponding to the first transmitting antenna and a third receiving antenna and a fourth receiving antenna corresponding to the second transmitting antenna, the first receiving antenna and the second receiving antenna differ in spatial position by 180 degrees, the third receiving antenna and the fourth receiving antenna differ in spatial position by 180 degrees, and the first receiving antenna and the third receiving antenna differ in spatial position by 90 degrees.

Images