High-speed magnetic levitation positioning speed measurement semi-physical simulation method and system

Abstract

The invention provides a high-speed magnetic levitation positioning speed measurement semi-physical simulation method and system. The method comprises the steps that a semi-physical simulation machine generates actual position information and motor voltage and current information; the signal simulator obtains a position-related high-frequency voltage digital signal with a specific amplitude based on the actual position information, and performs digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal; the zero-flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtains a zero-flux positioning result based on the high-frequency voltage digital signal; the motor controller identifies the position information of the motor based on the voltage and current information of the motor; and the fusion positioning speed measurement unit obtains the fused position information, and obtains speed information based on the fused position information. According to the invention, full-process simulation verification from low-speed-stage zero-flux positioning speed measurement position signals to high-speed-stage speed sensorless control can be completed.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic levitation positioning and speed measurement, and in particular to a high-speed magnetic levitation positioning and speed measurement semi-physical simulation method and system. Background Art

[0002] The high-speed flying car positioning and speed measurement adopts fusion positioning and speed measurement, which fuses the positioning results of speed sensorless and cabin-borne zero-flux positioning and speed measurement to obtain the position information of the vehicle. The speed sensorless obtains the position information by observing the back electromotive force of the superconducting linear motor, and its algorithm is deployed on the ground. The cabin-borne zero-flux positioning and speed measurement uses the zero-flux coil characteristics of the low-vacuum pipeline and obtains the position information of the vehicle through high-frequency signal positioning, and adopts the vehicle-borne positioning solution. In order to verify the correctness of the fusion positioning and speed measurement system, the entire positioning and speed measurement algorithm is verified by semi-physical simulation.

[0003] The existing semi-physical simulation is used to simulate the speed sensorless control algorithm, while the onboard zero-flux positioning speed measurement requires the use of track zero-flux coils to complete the verification of the positioning speed measurement algorithm, and cannot complete the verification of the full speed range. In addition, the existing semi-physical simulation system does not have a simulation of onboard zero-flux positioning speed measurement, and cannot complete the verification of the entire fusion positioning speed measurement system. Summary of the invention

[0004] The present invention provides a high-speed magnetic levitation positioning and speed measurement semi-physical simulation method and system, which can complete the full-process simulation verification from zero magnetic flux positioning and speed measurement position signal in the low-speed stage to speed sensorless control in the high-speed stage.

[0005] According to one aspect of the present invention, a high-speed magnetic levitation positioning speed measurement semi-physical simulation method is provided, the method comprising: The semi-physical simulation machine generates actual position information and motor voltage and current information, and sends the actual position information to the signal simulator and sends the motor voltage and current information to the motor controller; The signal simulator obtains a high-frequency voltage digital signal of a specific amplitude related to the position based on the actual position information, performs digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and outputs the high-frequency voltage analog signal to a zero-flux positioning speed measurement controller; The zero flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtains a zero flux positioning result based on the high-frequency voltage digital signal; The motor controller uses the sliding mode observer position identification method to identify the motor position information based on the motor voltage and current information, and uses the motor position information as the speed sensorless identification and positioning result; The fusion positioning and speed measurement unit fuses the zero-flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, and obtains speed information based on the fused position information.

[0006] Preferably, the specific amplitude of the high-frequency voltage digital signal related to the position is obtained by the following steps: Establish a system analytical model including the transmitting antenna, receiving antenna and zero flux coil; The transmitting antenna and zero flux coil in the system analytical model are divided into multiple sub-coils with the same cross-section, all sub-coils are replaced by their respective center lines, and the mutual inductance between any two center lines is calculated; The three-dimensional global analytical method is used to analyze the magnetic field characteristics of the system analytical model based on the mutual inductance value between any two center lines; Perform two-dimensional Fourier transform on the magnetic field characteristics of the system analytical model to obtain the analytical expression of magnetic flux density in space; Based on the coupling relationship between the transmitting antenna, receiving antenna and zero flux coil in the system analytical model, the mutual inductance value between any two center lines is substituted into the analytical expression of magnetic flux density in space to obtain the induced electromotive force generated by the receiving antenna. The magnitude of the induced electromotive force is used as the amplitude of the high-frequency voltage digital signal related to the position.

[0007] Preferably, the position-related high-frequency voltage digital signal includes a sine envelope signal and a cosine envelope signal which differ in phase by 90 degrees.

[0008] Preferably, the zero flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtaining the zero flux positioning result based on the high-frequency voltage digital signal includes: The zero-flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal; The high-frequency voltage digital signal is multiplied by the sinusoidal signal of the same frequency and then low-pass filtered to obtain the envelope of the sinusoidal signal and cosine signal containing position information; Perform arc tangent calculation on the sine signal and cosine signal to obtain angle information; The zero flux positioning result is obtained based on the correspondence between the angle information and the actual spatial position.

[0009] Preferably, the fused positioning and speed measuring unit fuses the zero magnetic flux positioning result and the speed sensor-free identification positioning result to obtain the fused position information, including: the fused positioning and speed measuring unit uses weighted data averaging or Kalman filtering algorithm to fuse the zero magnetic flux positioning result and the speed sensor-free identification positioning result to obtain the fused position information.

[0010] According to another aspect of the present invention, a high-speed magnetic levitation positioning and speed measurement semi-physical simulation system is provided, the system comprising a semi-physical simulator, a signal simulator, a zero flux positioning and speed measurement controller, a motor controller and a fusion positioning and speed measurement unit; The semi-physical simulation machine is used to generate actual position information and motor voltage and current information, and send the actual position information to the signal simulator, and send the motor voltage and current information to the motor controller; The signal simulator is used to obtain a high-frequency voltage digital signal of a specific amplitude related to the position based on the actual position information, perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output it to the zero-flux positioning speed measurement controller; The zero flux positioning speed measurement controller is used to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain the converted high-frequency voltage digital signal, and obtain the zero flux positioning result based on the high-frequency voltage digital signal; The motor controller is used to identify the position information of the motor based on the motor voltage and current information by using the position identification method of the sliding mode observer, and use the position information of the motor as the speed sensorless identification and positioning result; The fusion positioning and speed measurement unit is used to fuse the zero-flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, and obtain speed information based on the fused position information.

[0011] Preferably, the signal simulator includes a finite element numerical analysis module and a DA module; The finite element numerical analysis module is used to establish a system analytical model including a transmitting antenna, a receiving antenna and a zero flux coil; to divide the transmitting antenna and the zero flux coil in the system analytical model into a plurality of sub-coils with the same cross-section, replace all the sub-coils with their respective center lines, and calculate the mutual inductance between any two center lines; to use a three-dimensional global analytical method to analyze the magnetic field characteristics of the system analytical model based on the mutual inductance between any two center lines; to perform a two-dimensional Fourier transform on the magnetic field characteristics of the system analytical model to obtain an analytical expression of the magnetic flux density in space; to bring the mutual inductance between any two center lines into the analytical expression of the magnetic flux density in space based on the coupling relationship between the transmitting antenna, the receiving antenna and the zero flux coil in the system analytical model, to obtain the induced electromotive force generated by the receiving antenna, and to use the magnitude of the induced electromotive force as the amplitude of the high-frequency voltage digital signal related to the position; and to obtain a high-frequency voltage digital signal of a specific amplitude related to the position based on actual position information; The DA module is used to perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output it to the zero-flux positioning speed measurement controller.

[0012] Preferably, the position-related high-frequency voltage digital signal includes a sine envelope signal and a cosine envelope signal which differ in phase by 90 degrees.

[0013] Preferably, the zero-flux positioning speed measurement controller includes an AD module and an envelope and position information extraction module; The AD module is used to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal; The envelope and position information extraction module is used to multiply the high-frequency voltage digital signal with the same-frequency sine signal and then perform low-pass filtering to obtain the envelope of the sine signal and cosine signal containing position information; to perform inverse tangent calculation on the sine signal and cosine signal to obtain angle information; and to obtain zero flux positioning results based on the correspondence between the angle information and the actual spatial position.

[0014] Preferably, the fused positioning and speed measurement unit is used to fuse the zero flux positioning result and the speed sensor-free identification positioning result by using weighted data averaging or Kalman filtering algorithm to obtain fused position information.

[0015] Preferably, the motor controller includes a speed sensorless control module, which is used to use a sliding mode observer position identification method to identify the position information of the motor based on the motor voltage and current information, and use the motor position information as a speed sensorless identification and positioning result.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Use a signal simulator to simulate the voltage signal of the receiving antenna of the cabin-borne zero-flux positioning system. No zero-flux coil on the actual track is required. The simulated high-frequency voltage signal is directly output through analytical calculation according to the simulated position information, thereby completing the cabin-borne zero-flux positioning speed measurement simulation; 2. Use a semi-physical simulator to simulate the process from low speed to high speed. In the low speed stage, use a signal simulator and a zero flux positioning speed controller to complete the position identification. In the high speed stage, use the speed sensorless control module in the motor controller to complete the position identification. Then, the zero flux positioning result and the speed sensorless identification positioning result are processed by data fusion to obtain the fused position and speed information. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 A flow chart of a high-speed magnetic levitation positioning speed measurement semi-physical simulation method provided in accordance with an embodiment of the present invention is shown; Figure 2 A schematic structural diagram of a high-speed magnetic levitation positioning and speed measurement semi-physical simulation system provided in accordance with an embodiment of the present invention is shown; Figure 3 A signal flow diagram of a signal simulator provided according to an embodiment of the present invention is shown; Figure 4 A signal flow diagram of a zero-flux positioning speed measurement controller provided according to an embodiment of the present invention is shown; Figure 5 A signal flow diagram of a motor controller provided according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0019] 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.

[0020] 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.

[0021] 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.

[0022] like Figure 1 As shown, the present invention provides a high-speed magnetic levitation positioning speed measurement semi-physical simulation method, the method comprising: The semi-physical simulation machine generates actual position information and motor voltage and current information, and sends the actual position information to the signal simulator and sends the motor voltage and current information to the motor controller; The signal simulator obtains a high-frequency voltage digital signal of a specific amplitude related to the position based on the actual position information, performs digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and outputs the high-frequency voltage analog signal to a zero-flux positioning speed measurement controller; The zero flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtains a zero flux positioning result based on the high-frequency voltage digital signal; The motor controller uses the sliding mode observer position identification method to identify the motor position information based on the motor voltage and current information, and uses the motor position information as the speed sensorless identification and positioning result; The fusion positioning and speed measurement unit fuses the zero-flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, and obtains speed information based on the fused position information.

[0023] In the present invention, a semi-physical simulation based on zero flux positioning is completed by using a semi-physical simulation machine and a signal simulator, solving the problem of no real zero flux coil test environment. The motor controller completes the position identification of the speed sensorless algorithm in the high-speed area, and the zero flux positioning speed measurement controller outputs the zero flux positioning result in the low-speed area. The position identification results of the two are completed by the fusion positioning speed measurement unit to complete the data fusion and output the final position and speed information, thereby completing the full process simulation verification from the zero flux positioning speed measurement position signal in the low-speed stage to the speed sensorless control in the high-speed stage.

[0024] Compared with the prior art, the present invention has the following beneficial effects: 1. Use a signal simulator to simulate the voltage signal of the receiving antenna of the cabin-borne zero-flux positioning system. No zero-flux coil on the actual track is required. The simulated high-frequency voltage signal is directly output through analytical calculation according to the simulated position information, thereby completing the cabin-borne zero-flux positioning speed measurement simulation; 2. Use a semi-physical simulator to simulate the process from low speed to high speed. In the low speed stage, use a signal simulator and a zero flux positioning speed controller to complete the position identification. In the high speed stage, use the speed sensorless control module in the motor controller to complete the position identification. Then, the zero flux positioning result and the speed sensorless identification positioning result are processed by data fusion to obtain the fused position and speed information.

[0025] According to one embodiment of the present invention, the specific amplitude of the high-frequency voltage digital signal related to the position is obtained by the following steps: Establish a system analytical model including the transmitting antenna, receiving antenna and zero flux coil; The transmitting antenna and zero flux coil in the system analytical model are divided into multiple sub-coils with the same cross-section, all sub-coils are replaced by their respective center lines, and the mutual inductance between any two center lines is calculated; The three-dimensional global analytical method is used to analyze the magnetic field characteristics of the system analytical model based on the mutual inductance value between any two center lines; Perform two-dimensional Fourier transform on the magnetic field characteristics of the system analytical model to obtain the analytical expression of magnetic flux density in space; Based on the coupling relationship between the transmitting antenna, receiving antenna and zero flux coil in the system analytical model, the mutual inductance value between any two center lines is substituted into the analytical expression of magnetic flux density in space to obtain the induced electromotive force generated by the receiving antenna. The magnitude of the induced electromotive force is used as the amplitude of the high-frequency voltage digital signal related to the position.

[0026] According to an embodiment of the present invention, the position-related high-frequency voltage digital signal includes a sine envelope signal and a cosine envelope signal which differ in phase by 90 degrees.

[0027] According to an embodiment of the present invention, the zero flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain the converted high-frequency voltage digital signal, and obtaining the zero flux positioning result based on the high-frequency voltage digital signal includes: The zero-flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal; The high-frequency voltage digital signal is multiplied by the sinusoidal signal of the same frequency and then low-pass filtered to obtain the envelope of the sinusoidal signal and cosine signal containing position information; Perform arc tangent calculation on the sine signal and cosine signal to obtain angle information; The zero flux positioning result is obtained based on the correspondence between the angle information and the actual spatial position.

[0028] According to one embodiment of the present invention, a fusion positioning and speed measurement unit fuses the zero magnetic flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, including: the fusion positioning and speed measurement unit uses weighted data averaging or Kalman filtering algorithm to fuse the zero magnetic flux positioning result and the speed sensor-free identification positioning result to obtain fused position information.

[0029] like Figure 2 As shown, the present invention provides a high-speed magnetic levitation positioning speed measurement semi-physical simulation system, the system comprising a semi-physical simulator, a signal simulator, a zero magnetic flux positioning speed measurement controller, a motor controller and a fusion positioning speed measurement unit; The semi-physical simulation machine is used to generate actual position information and motor voltage and current information, and send the actual position information to the signal simulator, and send the motor voltage and current information to the motor controller; The signal simulator is used to obtain a high-frequency voltage digital signal of a specific amplitude related to the position based on the actual position information, perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output it to the zero-flux positioning speed measurement controller; The zero flux positioning speed measurement controller is used to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain the converted high-frequency voltage digital signal, and obtain the zero flux positioning result based on the high-frequency voltage digital signal; The motor controller is used to identify the position information of the motor based on the motor voltage and current information by using the position identification method of the sliding mode observer, and use the position information of the motor as the speed sensorless identification and positioning result; The fusion positioning and speed measurement unit is used to fuse the zero-flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, and obtain speed information based on the fused position information.

[0030] According to an embodiment of the present invention, Figure 3 As shown, the semi-physical simulation machine transmits the actual position information to the signal simulator through Ethernet, and the signal simulator includes a finite element numerical analysis module and a DA module; The finite element numerical analysis module is used to establish a system analytical model including a transmitting antenna, a receiving antenna and a zero flux coil; to divide the transmitting antenna and the zero flux coil in the system analytical model into a plurality of sub-coils with the same cross-section, replace all the sub-coils with their respective center lines, and calculate the mutual inductance between any two center lines; to use a three-dimensional global analytical method to analyze the magnetic field characteristics of the system analytical model based on the mutual inductance between any two center lines; to perform a two-dimensional Fourier transform on the magnetic field characteristics of the system analytical model to obtain an analytical expression of the magnetic flux density in space; to bring the mutual inductance between any two center lines into the analytical expression of the magnetic flux density in space based on the coupling relationship between the transmitting antenna, the receiving antenna and the zero flux coil in the system analytical model, to obtain the induced electromotive force generated by the receiving antenna, and to use the magnitude of the induced electromotive force as the amplitude of the high-frequency voltage digital signal related to the position; and to obtain a high-frequency voltage digital signal of a specific amplitude related to the position based on actual position information; The DA module is used to perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output it to the zero-flux positioning speed measurement controller.

[0031] Among them, the self-inductance of a single loop of the zero flux coil is equal to the sum of the self-inductance and mutual inductance of all sub-coils in the loop, the mutual inductance between the upper and lower loops of the zero flux coil is equal to the sum of the mutual inductances between all sub-coils in the upper loop and all sub-coils in the lower loop, and the mutual inductance between the transmitting antenna and the zero flux coil is equal to the sum of the mutual inductances between all transmitting sub-coils and all zero flux sub-coils.

[0032] Through the above settings, the electromagnetic characteristics under any position, any air gap, and any posture conditions can be calculated conveniently and accurately, thereby completing the signal simulator function.

[0033] Specifically, the position-related high-frequency voltage digital signal includes a sine envelope signal and a cosine envelope signal that are 90 degrees apart.

[0034] According to an embodiment of the present invention, Figure 4 As shown, the zero-flux positioning speed measurement controller includes an AD module and an envelope and position information extraction module; The AD module is used to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal; The envelope and position information extraction module is used to multiply the high-frequency voltage digital signal with the same-frequency sine signal and then perform low-pass filtering to obtain the envelope of the sine signal and cosine signal containing position information; to perform inverse tangent calculation on the sine signal and cosine signal to obtain angle information; and to obtain zero flux positioning results based on the correspondence between the angle information and the actual spatial position.

[0035] According to an embodiment of the present invention, the fused positioning and speed measurement unit is used to fuse the zero flux positioning result and the speed sensor-free identification positioning result by using weighted data averaging or Kalman filtering algorithm to obtain fused position information.

[0036] According to an embodiment of the present invention, Figure 5 As shown, the motor controller includes a speed sensorless control module, which is used to use a sliding mode observer position identification method to identify the position information of the motor based on the motor voltage and current information, and use the motor position information as a speed sensorless identification and positioning result.

[0037] In order to further understand the present invention, the following Figure 1-Figure 5 The high-speed magnetic levitation positioning speed measurement semi-physical simulation method and system of the present invention are described in detail.

[0038] In the actual implementation process, the semi-physical simulator uses the RTLAB simulator to send the actual position information to the signal simulator through Ethernet. The signal simulator modulates the 50kHz high-frequency signal according to the position information and outputs a high-frequency voltage simulation signal. The envelope of the high-frequency voltage simulation signal contains the position information.

[0039] The zero-flux positioning speed measurement controller acquires high-frequency voltage analog signals, obtains the envelope related to the position information through the envelope extraction method based on the Hilbert algorithm, and extracts the position and speed information using the phase-locked loop method.

[0040] The motor controller collects the motor voltage and current information in the RTLAB simulator and runs the speed sensorless control algorithm, thereby realizing the positioning function of the superconducting linear motor by using the position observation algorithm based on the sliding mode observer.

[0041] The fusion positioning and speed measurement unit fuses the zero-flux positioning results in the low-speed stage and the speed sensorless identification positioning results in the high-speed stage, and finally outputs the fused position and speed information.

[0042] In summary, the present invention provides a high-speed magnetic levitation positioning speed measurement semi-physical simulation method and system. The present invention simulates the voltage signal of the receiving antenna of the cabin-borne zero-flux positioning device, simulates the induction signal of the full speed range without the real zero-flux coil, and the simulator can output the corresponding voltage signal according to the position and speed information of the semi-physical simulation system. In addition, the present invention combines the cabin-borne zero-flux positioning speed measurement simulator with the motor controller to form a fusion positioning speed measurement system, thereby realizing the verification of the positioning speed measurement process of the full speed range.

[0043] Parts of the present invention that are not described in detail are well known to those skilled in the art.

[0044] 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.

[0045] 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" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0046] 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.

[0047] 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 high-speed magnetic levitation positioning speed measurement semi-physical simulation method, characterized in that: The method comprises: The semi-physical simulation machine generates actual position information and motor voltage and current information, and sends the actual position information to the signal simulator and sends the motor voltage and current information to the motor controller; The signal simulator obtains a high-frequency voltage digital signal of a specific amplitude related to the position based on the actual position information, performs digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and outputs the high-frequency voltage analog signal to a zero-flux positioning speed measurement controller; The zero flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtains a zero flux positioning result based on the high-frequency voltage digital signal; The motor controller uses the sliding mode observer position identification method to identify the motor position information based on the motor voltage and current information, and uses the motor position information as the speed sensorless identification and positioning result; The fusion positioning and speed measurement unit fuses the zero-flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, and obtains speed information based on the fused position information.

2. The method according to claim 1, characterized in that The specific amplitude of the high-frequency voltage digital signal related to the position is obtained by the following steps: Establish a system analytical model including the transmitting antenna, receiving antenna and zero flux coil; The transmitting antenna and zero flux coil in the system analytical model are divided into multiple sub-coils with the same cross-section, all sub-coils are replaced by their respective center lines, and the mutual inductance between any two center lines is calculated; The three-dimensional global analytical method is used to analyze the magnetic field characteristics of the system analytical model based on the mutual inductance value between any two center lines; Perform two-dimensional Fourier transform on the magnetic field characteristics of the system analytical model to obtain the analytical expression of magnetic flux density in space; Based on the coupling relationship between the transmitting antenna, receiving antenna and zero flux coil in the system analytical model, the mutual inductance value between any two center lines is substituted into the analytical expression of magnetic flux density in space to obtain the induced electromotive force generated by the receiving antenna. The magnitude of the induced electromotive force is used as the amplitude of the high-frequency voltage digital signal related to the position.

3. The method according to claim 2, characterized in that The high-frequency voltage digital signal related to the position includes a sine envelope signal and a cosine envelope signal which are 90 degrees apart in phase.

4. The method according to claim 1, characterized in that The zero flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain the converted high-frequency voltage digital signal. The zero flux positioning result obtained based on the high-frequency voltage digital signal includes: The zero-flux positioning speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal; The high-frequency voltage digital signal is multiplied by the sinusoidal signal of the same frequency and then low-pass filtered to obtain the envelope of the sinusoidal signal and cosine signal containing position information; Perform arc tangent calculation on the sine signal and cosine signal to obtain angle information; The zero flux positioning result is obtained based on the correspondence between the angle information and the actual spatial position.

5. The method according to claim 1, characterized in that The fusion positioning and speed measurement unit fuses the zero-flux positioning result and the speed sensor-free identification positioning result to obtain the fused position information, including: the fusion positioning and speed measurement unit uses weighted data averaging or Kalman filtering algorithm to fuse the zero-flux positioning result and the speed sensor-free identification positioning result to obtain the fused position information.

6. A high-speed magnetic levitation positioning speed measurement semi-physical simulation system, characterized in that: The system includes a semi-physical simulator, a signal simulator, a zero-flux positioning speed measurement controller, a motor controller and a fusion positioning speed measurement unit; The semi-physical simulation machine is used to generate actual position information and motor voltage and current information, and send the actual position information to the signal simulator, and send the motor voltage and current information to the motor controller; The signal simulator is used to obtain a high-frequency voltage digital signal of a specific amplitude related to the position based on the actual position information, perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output it to the zero-flux positioning speed measurement controller; The zero flux positioning speed measurement controller is used to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain the converted high-frequency voltage digital signal, and obtain the zero flux positioning result based on the high-frequency voltage digital signal; The motor controller is used to identify the position information of the motor based on the motor voltage and current information by using the position identification method of the sliding mode observer, and use the position information of the motor as the speed sensorless identification and positioning result; The fusion positioning and speed measurement unit is used to fuse the zero-flux positioning result and the speed sensor-free identification positioning result to obtain fused position information, and obtain speed information based on the fused position information.

7. The system according to claim 6, characterized in that The signal simulator includes a finite element numerical analysis module and a DA module; The finite element numerical analysis module is used to establish a system analysis model including a transmitting antenna, a receiving antenna and a zero-flux coil; to divide the transmitting antenna and the zero-flux coil in the system analysis model into a plurality of sub-coils with the same cross-section, replace all the sub-coils with their respective center lines, and calculate the mutual inductance between any two center lines; It is used to analyze the magnetic field characteristics of the system analytical model based on the mutual inductance value between any two center lines by using a three-dimensional global analytical method; it is used to perform a two-dimensional Fourier transform on the magnetic field characteristics of the system analytical model to obtain an analytical expression of the magnetic flux density in space; it is used to bring the mutual inductance value between any two center lines into the analytical expression of the magnetic flux density in space based on the coupling relationship between the transmitting antenna, the receiving antenna and the zero magnetic flux coil in the system analytical model to obtain the induced electromotive force generated by the receiving antenna, and use the magnitude of the induced electromotive force as the amplitude of a high-frequency voltage digital signal related to the position; it is also used to obtain a high-frequency voltage digital signal of a specific amplitude related to the position based on actual position information; The DA module is used to perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output it to the zero-flux positioning speed measurement controller.

8. The system according to claim 7, characterized in that The high-frequency voltage digital signal related to the position includes a sine envelope signal and a cosine envelope signal which are 90 degrees apart in phase.

9. The system according to claim 6, characterized in that The zero-flux positioning speed measurement controller includes an AD module and an envelope and position information extraction module; The AD module is used to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal; The envelope and position information extraction module is used to multiply the high-frequency voltage digital signal with the same-frequency sine signal and then perform low-pass filtering to obtain the envelope of the sine signal and cosine signal containing position information; to perform inverse tangent calculation on the sine signal and cosine signal to obtain angle information; and to obtain zero flux positioning results based on the correspondence between the angle information and the actual spatial position.

10. The system according to claim 6, characterized in that The fusion positioning and speed measurement unit is used to fuse the zero-flux positioning result and the speed sensor-free identification positioning result by using weighted data averaging or Kalman filtering algorithm to obtain fused position information.

11. The system according to claim 6, characterized in that The motor controller includes a speed sensorless control module, which is used to identify the position information of the motor based on the motor voltage and current information using a position identification method of a sliding mode observer, and use the motor position information as a speed sensorless identification and positioning result.

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