High-speed maglev positioning and speed measurement semi-physical simulation method and system

Abstract

The application provides a high-speed maglev positioning and speed measurement semi-physical simulation method and system, and the method comprises the following steps: a semi-physical simulation machine generates actual position information and motor voltage and current information; a signal simulator obtains a high-frequency voltage digital signal with 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, and obtains a high-frequency voltage analog signal; a zero-flux positioning and speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal, obtains a converted high-frequency voltage digital signal, and obtains a zero-flux positioning result based on the high-frequency voltage digital signal; a motor controller identifies the position information of the motor based on the motor voltage and current information; and a fusion positioning and speed measurement unit obtains fused position information and obtains speed information based on the fused position information. The application can complete the whole-process simulation verification from the zero-flux positioning and speed measurement position signal in the low-speed stage to the speed sensor-free control in the high-speed stage.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic levitation positioning and speed measurement, and particularly relates to a high-speed magnetic levitation positioning and speed measurement semi-physical simulation method and system. BACKGROUND

[0002] The high-speed vehicle positioning and speed measurement adopts a fusion positioning and speed measurement, fuses positioning results of a speed sensorless and a cabin-mounted zero-magnetic-flux positioning and speed measurement to obtain vehicle position information. The speed sensorless obtains position information by observing back electromotive force of a superconducting linear motor, and an algorithm thereof is deployed on the ground. The cabin-mounted zero-magnetic-flux positioning and speed measurement obtains vehicle position information by using a zero-magnetic-flux coil feature of a low-vacuum pipeline and a high-frequency signal positioning, and adopts a vehicle-mounted positioning scheme. To verify correctness of the fusion positioning and speed measurement system, the entire positioning and speed measurement algorithm is verified by a semi-physical simulation method.

[0003] The existing semi-physical simulation is used to simulate a speed sensorless control algorithm, and the cabin-mounted zero-magnetic-flux positioning and speed measurement needs to use a track zero-magnetic-flux coil to complete verification of the positioning and speed measurement algorithm, and cannot complete verification in a full speed range. In addition, the existing semi-physical simulation system has no simulation of the cabin-mounted zero-magnetic-flux positioning and speed measurement, and cannot complete verification of the entire fusion positioning and speed measurement system. SUMMARY

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

[0005] According to an aspect of the present application, a high-speed magnetic levitation positioning and speed measurement semi-physical simulation method is provided, and the method comprises:

[0006] The semi-physical simulation machine generates actual position information and motor voltage and current information, and sends the actual position information to a signal simulator and the motor voltage and current information to a motor controller;

[0007] The signal simulator obtains a high-frequency voltage digital signal with 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-magnetic-flux positioning and speed measurement controller;

[0008] The zero-magnetic-flux positioning and 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-magnetic-flux positioning result based on the high-frequency voltage digital signal;

[0009] The motor controller identifies the position information of the motor based on the motor voltage and current information by using a position identification method of a sliding mode observer, and takes the position information of the motor as a speed sensorless identification and positioning result;

[0010] 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.

[0011] Preferably, the specific amplitude of the position-related high-frequency voltage digital signal is obtained by the following steps:

[0012] An analytical model of a system including a transmitting antenna, a receiving antenna and a zero-flux coil is established;

[0013] The transmitting antenna and the zero-flux coil in the analytical model of the system are respectively divided into a plurality of sub-coils with the same cross section, all the sub-coils are replaced by respective center lines, and the mutual inductance value between any two center lines is calculated;

[0014] The magnetic field characteristics of the analytical model of the system are analyzed based on the mutual inductance value between any two center lines by using a three-dimensional global analytical method;

[0015] A two-dimensional Fourier transform is performed on the magnetic field characteristics of the analytical model of the system to obtain an analytical expression of magnetic flux density in space;

[0016] Based on the coupling relationship between the transmitting antenna, the receiving antenna and the zero-flux coil in the analytical model of the system, the mutual inductance value between any two center lines is brought into the analytical expression of magnetic flux density in space to obtain an induced electromotive force generated by the receiving antenna, and the magnitude of the induced electromotive force is taken as the amplitude of the position-related high-frequency voltage digital signal.

[0017] Preferably, the position-related high-frequency voltage digital signal includes a sine envelope signal and a cosine envelope signal with a phase difference of 90 degrees.

[0018] Preferably, the zero-flux positioning and 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 the zero-flux positioning result based on the high-frequency voltage digital signal, including:

[0019] The zero-flux positioning and speed measurement controller performs analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal;

[0020] The high-frequency voltage digital signal is multiplied by a same-frequency sine signal and then low-pass filtered to obtain an envelope of a sine signal and a cosine signal containing position information;

[0021] The sine signal and the cosine signal are subjected to arctangent calculation to obtain angle information;

[0022] The zero-flux positioning result is obtained according to the corresponding relationship between the angle information and the actual spatial position.

[0023] Preferably, 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, including: the fusion positioning and speed measurement unit fuses the zero-flux positioning result and the speed sensor-free identification positioning result by using a weighted data average or a Kalman filtering algorithm to obtain the fused position information.

[0024] According to another aspect of the present application, a high-speed maglev positioning and speed measurement semi-physical simulation system is provided, including 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.

[0025] The semi-physical simulator is configured to generate actual position information and motor voltage and current information, and send the actual position information to the signal simulator and the motor voltage and current information to the motor controller.

[0026] The signal simulator is configured to obtain a high-frequency voltage digital signal with 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 the high-frequency voltage analog signal to the zero-flux positioning and speed measurement controller.

[0027] The zero-flux positioning and speed measurement controller is configured to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtain a zero-flux positioning result based on the high-frequency voltage digital signal.

[0028] The motor controller is configured to identify the position information of the motor based on the motor voltage and current information by using a sliding mode observer position identification method, and take the position information of the motor as a speed sensor-free identification positioning result.

[0029] The fusion positioning and speed measurement unit is configured 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] Preferably, the signal simulator includes a finite element numerical analysis module and a DA module.

[0031] The finite element numerical analysis module is configured 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 respectively, replace all the sub-coils with respective center lines, and calculate mutual inductance values between any two center lines; to analyze the magnetic field characteristics of the system analysis model based on the mutual inductance values between any two center lines by using a three-dimensional global analysis method; to perform two-dimensional Fourier transform on the magnetic field characteristics of the system analysis model to obtain an analytical expression of magnetic flux density in space; to obtain an induced electromotive force generated by the receiving antenna by bringing the mutual inductance values 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 analysis model, and taking the magnitude of the induced electromotive force as the amplitude of a high-frequency voltage digital signal related to position; and further configured to obtain a high-frequency voltage digital signal with a specific amplitude related to position based on actual position information.

[0032] The DA module is configured to perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output the high-frequency voltage analog signal to the zero flux positioning and speed measurement controller.

[0033] Preferably, the high-frequency voltage digital signal related to position includes a sine envelope signal and a cosine envelope signal with a phase difference of 90 degrees.

[0034] Preferably, the zero flux positioning and speed measurement controller includes an AD module and an envelope line and position information extraction module.

[0035] The AD module is configured to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal.

[0036] The envelope line and position information extraction module is configured to multiply the high-frequency voltage digital signal by a same-frequency sine signal, and then perform low-pass filtering to obtain envelope lines of sine signals and cosine signals containing position information; to perform arctangent calculation on the sine signals and the cosine signals to obtain angle information; and further configured to obtain a zero flux positioning result according to the correspondence between the angle information and actual spatial position.

[0037] Preferably, the fusion positioning and speed measurement unit is configured to fuse the zero flux positioning result and the no-speed-sensor identification positioning result by using a weighted data average or a Kalman filtering algorithm to obtain fused position information.

[0038] Preferably, the motor controller includes a no-speed-sensor control module, and the no-speed-sensor control module is configured to identify the position information of the motor based on motor voltage and current information by using a position identification method of a sliding mode observer, and take the position information of the motor as a no-speed-sensor identification positioning result.

[0039] Compared with the prior art, the technical scheme of the present application has the following beneficial effects:

[0040] 1. The voltage signal of the cabin-mounted zero-flux positioning system receiving antenna is simulated by using a signal simulator, without the need of an actual track zero-flux coil, and the simulated high-frequency voltage signal is outputted through analytical calculation according to the simulation position information, so as to complete the cabin-mounted zero-flux positioning and speed measurement simulation.

[0041] 2. The process from low speed to high speed is simulated by using a semi-physical simulation machine, the position recognition is completed by using the signal simulator and the zero-flux positioning and speed measurement controller in the low speed stage, and the position recognition is completed by using the speed sensorless control module in the motor controller in the high speed stage. Then, the zero-flux positioning result and the speed sensorless recognition positioning result are subjected to data fusion processing to obtain the fused position and speed information. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present application and constitute a part of the specification, illustrate the embodiments of the present application and, together with the text description, explain the principles of the present application. Obviously, the drawings in the following description only show some of the embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0043] Figure 1 A flow chart of a high-speed maglev positioning and speed measurement semi-physical simulation method according to an embodiment of the present application is shown;

[0044] Figure 2 A structural schematic diagram of a high-speed maglev positioning and speed measurement semi-physical simulation system according to an embodiment of the present application is shown;

[0045] Figure 3 A signal flow diagram of a signal simulator according to an embodiment of the present application is shown;

[0046] Figure 4 A signal flow diagram of a zero-flux positioning and speed measurement controller according to an embodiment of the present application is shown;

[0047] Figure 5 A signal flow diagram of a motor controller according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0048] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other in the case of no conflict. The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The description of the at least one example embodiment is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0049] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a reference to the presence of a feature, step, operation, device, component and / or combinations thereof.

[0050] Unless specifically stated otherwise, the relative arrangements of the components and steps illustrated in these embodiments and the numerical expressions and values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportion relationship. The technology, methods and devices known to those skilled in the relevant art can not be discussed in detail, but should be considered as part of the authorized description. In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, and not as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0051] As Figure 1 shown, the present application provides a high-speed magnetic levitation positioning speed measurement semi-physical simulation method, the method comprising:

[0052] 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 the motor voltage and current information to the motor controller;

[0053] The signal simulator obtains a high-frequency voltage digital signal with 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 the zero-flux positioning speed controller;

[0054] The zero-flux positioning speed control unit performs analog-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;

[0055] The motor controller adopts a position identification method of a sliding mode observer to identify the position information of the motor based on motor voltage and current information, and takes the position information of the motor as a speed sensorless identification positioning result;

[0056] The fusion positioning speed unit fuses the zero-flux positioning result and the speed sensorless identification positioning result to obtain fused position information, and obtains speed information based on the fused position information.

[0057] In the present application, a semi-physical simulator and a signal simulator are used to complete semi-physical simulation based on zero-flux positioning, and the problem of no real zero-flux coil test environment is solved. The motor controller completes position identification of the speed sensorless algorithm in the high-speed region, and the zero-flux positioning speed control unit outputs the zero-flux positioning result in the low-speed region. The position identification results of the two are fused by the fusion positioning speed unit to output the final position and speed information, so that the whole process simulation verification from the zero-flux positioning speed position signal in the low-speed stage to the speed sensorless control in the high-speed stage can be completed.

[0058] Compared with the prior art, the present application has the following beneficial effects:

[0059] 1. The signal simulator is used to simulate the voltage signal of the cabin-mounted zero-flux positioning system receiving antenna, and the actual zero-flux coil on the track is not needed. The simulated high-frequency voltage signal is output directly through analytical calculation according to the simulation position information, so that the cabin-mounted zero-flux positioning speed simulation is completed.

[0060] 2. The semi-physical simulator is used to simulate the process from low speed to high speed. In the low-speed stage, the signal simulator and the zero-flux positioning speed control unit are used to complete position identification, and in the high-speed stage, the speed sensorless control module in the motor controller is used to complete position identification. Then, the zero-flux positioning result and the speed sensorless identification positioning result are fused to obtain the fused position and speed information.

[0061] According to an embodiment of the present application, a specific amplitude of the high-frequency voltage digital signal related to the position is obtained by the following steps:

[0062] An analytical model of a system including a transmitting antenna, a receiving antenna and a zero-flux coil is established;

[0063] The transmitting antenna and the zero-flux coil in the analytical model of the system are divided into a plurality of sub-coils with the same cross section, all the sub-coils are replaced by respective center lines, and the mutual inductance value between any two center lines is calculated.

[0064] Using a three-dimensional global analytical method, the magnetic field characteristics of the system analytical model are analyzed based on the mutual inductance between any two center lines;

[0065] 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;

[0066] Based on the coupling relationship between the transmitting antenna, receiving antenna and zero-flux coil in the system analytical model, the mutual inductance 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.

[0067] 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 that differ in phase by 90 degrees.

[0068] According to one embodiment of the present invention, the zero-flux positioning speed measurement controller performs analog-to-digital conversion on a high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtaining a zero-flux positioning result based on the high-frequency voltage digital signal includes:

[0069] 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;

[0070] 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;

[0071] Perform arc tangent calculation on the sine signal and cosine signal to obtain angle information;

[0072] The zero flux positioning result is obtained based on the correspondence between the angle information and the actual spatial position.

[0073] According to one embodiment of the present invention, 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.

[0074] like Figure 2 As shown, the present invention provides a high-speed magnetic levitation positioning and speed measurement semi-physical simulation system, which includes a semi-physical simulation machine, a signal simulator, a zero magnetic flux positioning and speed measurement controller, a motor controller and a fusion positioning and speed measurement unit;

[0075] The semi-physical simulation machine is configured to generate actual position information and motor voltage and current information, and transmit the actual position information to the signal simulator and transmit the motor voltage and current information to the motor controller;

[0076] The signal simulator is configured to obtain a high-frequency voltage digital signal with 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 the high-frequency voltage analog signal to the zero-magnetic-flux positioning and speed measurement controller;

[0077] The zero-magnetic-flux positioning and speed measurement controller is configured to perform analog-to-digital conversion on the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal, and obtain a zero-magnetic-flux positioning result based on the high-frequency voltage digital signal;

[0078] The motor controller is configured to identify the position information of the motor based on the motor voltage and current information by using a position identification method of a sliding mode observer, and take the position information of the motor as a speed sensorless identification positioning result;

[0079] The fusion positioning and speed measurement unit is configured to fuse the zero-magnetic-flux positioning result and the speed sensorless identification positioning result to obtain fused position information, and obtain speed information based on the fused position information.

[0080] According to an embodiment of the present application, as shown in Figure 3 The semi-physical simulation machine transmits actual position information to the signal simulator through Ethernet, the signal simulator includes a finite element numerical analysis module and a DA module;

[0081] The finite element numerical analysis module is configured to establish a system analysis model including a transmitting antenna, a receiving antenna and a zero-magnetic-flux coil, divide the transmitting antenna and the zero-magnetic-flux coil in the system analysis model into a plurality of sub-coils with the same cross section respectively, replace all the sub-coils with respective center lines, and calculate mutual inductance values between any two center lines, analyze the magnetic field characteristics of the system analysis model based on the mutual inductance values between any two center lines by using a three-dimensional global analysis method, perform two-dimensional Fourier transform on the magnetic field characteristics of the system analysis model to obtain an analytical expression of magnetic flux density in space, and based on the coupling relationship between the transmitting antenna, the receiving antenna and the zero-magnetic-flux coil in the system analysis model, bring the mutual inductance values between any two center lines into the analytical expression of magnetic flux density in space to obtain an induced electromotive force generated by the receiving antenna, take the magnitude of the induced electromotive force as the amplitude of a high-frequency voltage digital signal related to the position, and further obtain the high-frequency voltage digital signal with a specific amplitude related to the position based on the actual position information;

[0082] The DA module is configured to perform digital-to-analog conversion on the high-frequency voltage digital signal to obtain a high-frequency voltage analog signal, and output the high-frequency voltage analog signal to the zero-magnetic-flux positioning and speed measurement controller.

[0083] Wherein, the self-inductance of the zero-flux coil single loop 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 loop and the lower loop of the zero-flux coil is equal to the sum of the mutual inductance between all sub-coils of the upper loop and all sub-coils of the lower loop, and the mutual inductance between the transmitting antenna and the zero-flux coil is equal to the sum of the mutual inductance between all transmitting sub-coils and all zero-flux sub-coils.

[0084] Through the above setting, the electromagnetic characteristics under the conditions of any position, any air gap and any attitude can be conveniently and accurately calculated, so that the signal simulator function can be completed.

[0085] Specifically, the high-frequency voltage digital signal related to the position includes a sine envelope signal and a cosine envelope signal with a phase difference of 90 degrees.

[0086] According to an embodiment of the present application, as shown in Figure 4 The zero-flux positioning and speed measurement controller includes an AD module and an envelope and position information extraction module.

[0087] The AD module is used for analog-to-digital conversion of the high-frequency voltage analog signal to obtain a converted high-frequency voltage digital signal.

[0088] The envelope and position information extraction module is used for multiplying the high-frequency voltage digital signal by a same-frequency sine signal and then performing low-pass filtering to obtain the envelope of the sine signal and the cosine signal containing the position information; is used for arctangent calculation of the sine signal and the cosine signal to obtain angle information; and is further used for obtaining a zero-flux positioning result according to the corresponding relationship between the angle information and the actual spatial position.

[0089] According to an embodiment of the present application, the fusion positioning and speed measurement unit is used for fusing the zero-flux positioning result and the no-speed-sensor identification positioning result by using a weighted data average or a Kalman filtering algorithm to obtain fused position information.

[0090] According to an embodiment of the present application, as shown in Figure 5 The motor controller includes a no-speed-sensor control module, which is used for identifying the position information of the motor based on motor voltage and current information by using a position identification method of a sliding mode observer, and taking the position information of the motor as the no-speed-sensor identification positioning result.

[0091] In order to have a further understanding of the present application, the following Figures 1-5 The high-speed maglev positioning and speed measurement semi-physical simulation method and system of the present application are described in detail.

[0092] In the actual implementation process, the semi-physical simulation machine uses the RTLAB simulator to send the actual position information to the signal simulator via 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.

[0093] The zero-flux positioning speed measurement controller acquires high-frequency voltage analog signals and obtains the envelope related to the position information through the envelope extraction method based on the Hilbert algorithm, and then uses the phase-locked loop method to extract the position and speed information.

[0094] 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 using the position observation algorithm based on the sliding mode observer.

[0095] The fusion positioning and speed measurement unit fuses the zero-flux positioning results of the low-speed stage and the speed sensorless identification positioning results of the high-speed stage, and finally outputs the fused position and speed information.

[0096] In summary, the present invention provides a method and system for semi-physical simulation of high-speed magnetic levitation positioning and speed measurement. This method simulates the voltage signal from the receiving antenna of an onboard zero-flux positioning device, simulating the induction signal across the full speed range without the use of a real zero-flux coil. Furthermore, this simulator can output a corresponding voltage signal based on the position and speed information of the semi-physical simulation system. Furthermore, the present invention combines an onboard zero-flux positioning and speed measurement simulator with a motor controller to form a fused positioning and speed measurement system, thereby enabling verification of the positioning and speed measurement process across the full speed range.

[0097] Parts of the present invention that are not described in detail are well known to those skilled in the art.

[0098] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying 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 device or element 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 outline of each component itself.

[0099] For purposes of the description hereinafter, spatial or directional terms, for example, "above", "below", "upper", "lower", and the like, can be used, and relate to the device as illustrated in the figures. However, it is to be understood that no absolute or relative orientation of the device is intended or implied, unless specifically described as such. Terms concerning attachments, coupling and the like, such as "connected" and "coupled" and the like, are to be construed in accordance with their normal meanings, that is, as referring to an indirect or direct connection or coupling. Any reference to "comprising" or "containing" is to be construed as meaning "comprising or containing, but not limited to". Any reference to "comprising" or "containing" is to be construed as meaning "comprising or containing, but not limited to".

[0100] In addition, it should be pointed out that the use of the terms "first", "second" and the like, to describe various elements in the claims, is merely intended to distinguish between two steps or entities of the application, and is not intended to limit the scope of the present application, unless specifically stated otherwise. Thus, the terms "first", "second", and the like, are not intended to limit the scope of the present application, unless specifically stated otherwise.

[0101] The preferred embodiments of the application are described above in detail. The application is not limited to the embodiments described above, but can be modified and changed by those skilled in the art without departing from the spirit and principles of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the scope of the protection of the application.

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 signal to the 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 sensorless 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; Using a three-dimensional global analytical method, the magnetic field characteristics of the system analytical model are analyzed based on the mutual inductance 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 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, wherein 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 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, wherein The fusion positioning and speed measurement unit fuses the zero-flux positioning result and the speed sensorless identification positioning result to obtain the fused position information, including: the fusion positioning and speed measurement unit adopts weighted data averaging or Kalman filtering algorithm to fuse the zero-flux positioning result and the speed sensorless 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 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 a converted high-frequency voltage digital signal, and obtain a 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 using a position identification method of a sliding mode observer, and use the position information of the motor as a 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 analytical model including a transmitting antenna, a receiving antenna, and a zero-flux coil; it is used to divide the transmitting antenna and the zero-flux coil in the system analytical model into multiple 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 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 substitute 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, wherein: 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, wherein: 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, wherein: 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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