High-speed maglev train positioning anti-shake method and system

Abstract

The invention relates to a high-speed maglev train positioning anti-shake method and system. The method comprises the following steps: firstly, acquiring two square wave signals output by a relative position sensor; a time sequence processing circuit is arranged, the two paths of square wave signals are processed through the time sequence processing circuit, and when the first square wave signal in the two paths of square wave signals jumps, the second square wave signal jumps; and if the jump of the second square wave signal does not exist between the first jump of the first square wave signal and the next jump of the first square wave signal, the jump of the first square wave signal is regarded as an unreasonable jump. Unreasonable jumps in the two paths of square wave signals after time sequence processing are filtered out, and two paths of output signals are obtained; and finally, according to the current running state of the train, combining the edges of the two paths of output signals to carry out cogging counting so as to determine the relative position of the high-speed maglev train. Compared with the prior art, the method has the advantages of avoiding interference generated by jitter, eliminating influence of the jitter from the source, increasing positioning accuracy, enhancing positioning reliability and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of train positioning, and in particular to a high-speed maglev train positioning anti-shake method and system thereof. Background Art

[0002] As a new type of urban rail transit tool, high-speed maglev trains have the advantages of high speed, no pollution, low noise, safety and comfort, and strong climbing ability. The positioning speed measurement system provides accurate train speed, direction and mileage information for the operation control system. Therefore, the reliability and accuracy of the positioning speed measurement system will directly affect the operation safety of the maglev train. Sensors are key components in the speed measurement and positioning system and play an extremely important role. The relative position sensor, also known as the slot counter, referred to as NUT, is an important part of the positioning speed measurement system. The train's travel direction, slot count and magnetic pole phase angle information are all measured by the relative positioning sensor. The absolute position sensor, also known as the positioning mark point reader, referred to as INK, is mainly used to determine the direction of vehicle operation.

[0003] The train will shake (up and down, left and right) during the process of floating, stopping at the station, and running. During the shaking process, interference signals will be generated. When the host of the speed measurement and positioning system processes the interference signals, it will mistakenly think that the vehicle is still moving, which will cause misjudgment to the vehicle operation control system and cause inaccurate train positioning. Summary of the invention

[0004] The purpose of the present invention is to provide a high-speed maglev train positioning and anti-shake method and system in order to overcome the defects of the above-mentioned prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to one aspect of the present invention, a high-speed maglev train positioning and anti-shake method is provided, the method comprising the steps of:

[0007] S1, obtaining two square wave signals output by the relative position sensor;

[0008] S2, setting a timing processing circuit, processing the two square wave signals through the timing processing circuit, so that when the first square wave signal of the two square wave signals jumps, the second square wave signal also jumps, and obtaining two square wave signals after timing processing;

[0009] S3, filtering out unreasonable jumps in the two-way time-series processed square wave signals to obtain two-way output signals;

[0010] S4. According to the current running status of the train, the tooth slots are counted in combination with the edges of the two output signals to determine the relative position of the high-speed maglev train.

[0011] As a preferred technical solution, when the first square wave signal in S2 jumps, the condition for the second square wave signal to jump is that the center of the coil corresponding to the first square wave signal is at least beyond the position of 1 / 2 of the slot structure.

[0012] As a preferred technical solution, the unreasonable jump in S3 is specifically: if there is no jump of the second square wave signal between a first square wave signal jump and the next first square wave signal jump, then the first square wave signal jump is regarded as an unreasonable jump.

[0013] As a preferred technical solution, the two output signals in S3 include a first output signal and a second output signal, wherein the first output signal corresponds to a first square wave signal, and the second output signal corresponds to a second square wave signal.

[0014] As a preferred technical solution, in S4, if the current running state of the train is forward travel, the specific relationship between the two output signals and the two square wave signals is: the phase of the first square wave signal is the same as the phase of the first output signal, and the phase of the second square wave signal is the same as the phase of the second output signal.

[0015] As a preferred technical solution, in S4, if the current running state of the train is forward running, the rising edge of the second output signal is used to count the tooth slots of the relative position sensor.

[0016] As a preferred technical solution, in S4, if the current running state of the train is reverse running, the specific relationship between the two output signals and the two square wave signals is: the phase of the first square wave signal leads the phase of the first output signal by 90°, and the phase of the second square wave signal leads the phase of the second output signal by 90°.

[0017] As a preferred technical solution, in S4, if the current running state of the train is reverse running, the falling edge of the first output signal is used to count the tooth slots of the relative position sensor.

[0018] As a preferred technical solution, in S4, if the current running state of the train is that the driving direction has changed, the driving direction of the train is first determined, and then the tooth slot count is performed.

[0019] According to another aspect of the present invention, a high-speed maglev train positioning and anti-shake system is provided. The system works by applying the high-speed maglev train positioning and anti-shake method as described above. The system includes a relative position sensor module, a timing processing circuit module, and a tooth slot positioning module.

[0020] The relative position sensor module is used to obtain two square wave signals;

[0021] The timing processing circuit module is used to make the second square wave signal jump when the first square wave signal of the two square wave signals jumps, and obtain two output signals after filtering out unreasonable signals;

[0022] The tooth slot positioning module is used to count the tooth slots according to the current running state of the train in combination with the edges of the two output signals, thereby determining the relative position of the high-speed maglev train.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. The present invention sets a timing processing circuit, processes two square wave signals through the timing processing circuit, so that when the first square wave signal jumps in the two square wave signals, the second square wave signal jumps, and obtains two square wave signals after timing processing; by filtering out unreasonable jumps in the two square wave signals after timing processing, obtains two output signals; and then counts the tooth slots according to the current running state of the train combined with the edges of the two output signals, and then determines the relative position of the high-speed maglev train. Thus, the interference caused by jitter can be avoided, the influence of jitter can be eliminated from the source, and the accuracy of positioning is increased.

[0025] 2. In the present invention, when the current running state of the train is forward travel, the specific relationship between the two output signals and the two square wave signals is: the phase of the first square wave signal is the same as the phase of the first output signal, and the phase of the second square wave signal is the same as the phase of the second output signal. When the current running state of the train is reverse travel, the specific relationship is: the phase of the first square wave signal leads the phase of the first output signal by 90°, and the phase of the second square wave signal leads the phase of the second output signal by 90°. When the timing circuit processes the two conditions of forward travel and reverse travel, there is a difference in the phase relationship between the output signal and the input signal, and there will be no tooth slot leakage when the direction signal changes, thereby enhancing the reliability of positioning.

[0026] 3. In the present invention, when the current running state of the train is a change in the driving direction, the running direction of the train is first determined, and then the cog count is performed. When the current running state of the train is forward running, the rising edge of the second output signal is used to count the cogs of the relative position sensor. When the current running state of the train is reverse running, the falling edge of the first output signal is used to count the cogs of the relative position sensor. In this way, accurate positioning of the train is achieved, and the positioning accuracy requirements of the relative position sensor are met. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the flow of the high-speed maglev train positioning and anti-shake method in the present invention;

[0028] Figure 2 A circuit diagram of a timing processing circuit in an embodiment;

[0029] Figure 3a This is a square wave signal diagram when driving forward in the embodiment;

[0030] Figure 3bThis is a square wave signal diagram when driving in reverse in the embodiment;

[0031] Figure 4 The waveform diagram of the input1 signal phase of about 135° in the embodiment;

[0032] Figure 5 The waveform diagram of the input1 signal with a phase of about 45° in the embodiment;

[0033] Figure 6 The waveform diagram of the input1 signal phase of about 315° in the embodiment;

[0034] Figure 7 The waveform diagram of the input1 signal phase of about 225° in the embodiment;

[0035] Figure 8 The waveform diagram of the input2 signal phase of about 135° in the embodiment;

[0036] Fig. 9 The waveform diagram of the input2 signal with a phase of about 45° in the embodiment;

[0037] Fig.10 The waveform diagram of the input2 signal phase of about 315° in the embodiment;

[0038] Fig.11 is a waveform diagram of an input2 signal with a phase of approximately 225° in the embodiment. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] Example

[0041] In this embodiment, a high-speed maglev train positioning anti-shake method is applied, such as Figure 1 As shown, the following steps are included:

[0042] S1, obtaining two square wave signals output by the relative position sensor;

[0043] The two square wave signals output by the relative position sensor on the high-speed maglev train are obtained by processing the original square wave signal.

[0044] The relative position sensors currently available on the market all process the original square wave signal to output two square wave signals, and then determine the position of the high-speed maglev train by counting the tooth slots. At present, when there is signal jitter, the relative position sensor will mistakenly think it is started, which will lead to inaccurate counting results.

[0045] S2, setting a timing processing circuit, processing the two square wave signals through the timing processing circuit, so that when the first square wave signal of the two square wave signals jumps, the second square wave signal also jumps, and obtaining two square wave signals after timing processing;

[0046] S3, filtering out unreasonable jumps in the two-way time-series processed square wave signals to obtain two-way output signals;

[0047] In this embodiment, the timing of the two square wave signals is processed so that when the first square wave signal changes, the second square wave signal jumps. Even if there is interference, since the two output square wave signals do not have corresponding level changes, it will not be considered as started, thereby avoiding the impact of jitter.

[0048] In this embodiment, Figure 2 As shown in the figure, a circuit diagram of a timing processing circuit is given. DSTM1 and DSTM2 are input sine square wave and cosine square wave respectively. U1A and U2B are two D output devices for data retention and buffering. Figure 2 The circuit diagram can be realized by adding an edge detection circuit of the second square wave signal between the two edge signals of the first square wave signal, so as to judge whether the two edges of the first square wave signal are reliable. If the edge jump of the first square wave signal exists between the edge jump of the second square wave signal, the edge of the first square wave signal is considered to be a reasonable jump, otherwise it is an unreasonable jump and is filtered out. The two square wave signals are mutually verified by this method.

[0049] S4. According to the current running status of the train, the tooth slots are counted in combination with the edges of the two output signals to determine the relative position of the high-speed maglev train.

[0050] In this embodiment, when the tooth slots are used for positioning, the position of the high-speed maglev train is determined by the signal changes of the two square wave signals.

[0051] In this embodiment, a high-speed maglev train positioning anti-shake method is used to set up a timing processing circuit to perform timing processing on two square wave signals, so that when the first square wave signal of the two square wave signals changes, the second square wave signal jumps. Then, when there is a jitter signal, since the other square wave signal will not jump, it will be regarded as interference, thereby avoiding the interference caused by the jitter and eliminating the influence of the jitter from the source.

[0052] In this embodiment, the first square wave signal and the second square wave signal correspond to the first output signal and the second output signal respectively. When driving in the forward direction, Figure 3a As shown, the first square wave signal is the same as the first output signal, and the second square wave signal is the same as the second output signal; when driving in the reverse direction, as shown Figure 3b As shown, the first square wave signal leads the first output signal by 90°, and the second square wave signal leads the second output signal by 90°.

[0053] In this embodiment, when traveling in the forward direction, the rising edge of the second output signal is used to count the cogs of the relative position sensor; when traveling in the reverse direction, the falling edge of the first output signal is used to count the cogs of the relative position sensor.

[0054] In this embodiment, when the coil corresponding to the first square wave signal or the second square wave signal passes through at least half of the slot structure, the timing processing circuit causes the other square wave signal to jump.

[0055] In this embodiment, the following lists the situations for direction change and conducts a specific analysis:

[0056] In this embodiment, when the reverse driving changes to the forward driving, as shown in FIG. Figure 4 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input1 signal passes through the 3 / 4 tooth structure, that is, the phase of the input1 signal is about 135°, which can cause the input2 signal to jump.

[0057] In this embodiment, when the reverse driving changes to the forward driving, as shown in FIG. Figure 5 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input1 signal passes through the 1 / 4 tooth structure, that is, the phase of the input1 signal is about 45°, and does not reach the position where the input2 signal jumps.

[0058] In this embodiment, when the reverse driving changes to the forward driving, as shown in FIG. Figure 6 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input1 signal passes through the 3 / 4 slot structure, that is, the phase of the input1 signal is about 315°, which can cause the input2 signal to jump.

[0059] In this embodiment, when the reverse driving changes to the forward driving, as shown in FIG. Figure 7 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input1 signal passes through the 1 / 4 slot structure, that is, the phase of the input1 signal is about 225°, and does not reach the position where the input2 signal jumps.

[0060] In this embodiment, when the forward driving changes to the reverse driving, as shown in FIG. Figure 8As shown, the direction change position occurs at the position where the center of the coil corresponding to the input2 signal passes through the 3 / 4 tooth structure, that is, the phase of the input2 signal is about 135°, which can cause the input1 signal to jump.

[0061] In this embodiment, when the forward driving changes to the reverse driving, as shown in FIG. Fig. 9 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input2 signal passes through the 1 / 4 tooth structure, that is, the phase of the input2 signal is about 45°, and does not reach the position where the input1 signal jumps.

[0062] In this embodiment, when the forward driving changes to the reverse driving, as shown in FIG. Fig.10 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input2 signal passes through the 3 / 4 slot structure, that is, the phase of the input2 signal is about 315°, which can cause the input1 signal to jump.

[0063] In this embodiment, when the forward driving changes to the reverse driving, as shown in FIG. Fig.11 As shown, the direction change position occurs at the position where the center of the coil corresponding to the input2 signal passes through the 1 / 4 slot structure, that is, the phase of the input1 signal is about 225° and does not reach the position where the input1 signal jumps.

[0064] In this embodiment, because the timing circuit processes the two conditions of forward operation and reverse operation, there is a difference in the phase relationship between the output signal and the input signal, that is, during reverse operation, the out1 and out2 signals lag behind the input1 and input2 signals by 90° respectively, while during forward operation, input1 is synchronized with out1, and input2 is synchronized with out2, and the tooth slot counting function cannot be realized by only any one output signal (out1 or out2), so that the tooth slot missing will not occur when the direction signal changes.

[0065] In this embodiment, the specific process of tooth slot counting is: when running in the forward direction, count the rising edge of the out2 signal; when running in the reverse direction, count the falling edge of the out1 signal; when the direction changes, first determine the direction and then count. It can be seen that the high-speed maglev train positioning anti-shake method can effectively eliminate the interference signal caused by jitter, avoid the interference caused by jitter, and eliminate the influence of jitter from the source. When the train turns back, there is a 1 / 4 situation in the circuit design where the tooth slot is missed, but it can still meet the positioning accuracy requirement of the NUT sensor ±1 tooth slot period.

[0066] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A high-speed maglev train positioning and anti-shake method, characterized in that: The method steps include: S1, obtaining two square wave signals output by the relative position sensor; S2, setting a timing processing circuit, processing the two square wave signals through the timing processing circuit, so that when the first square wave signal of the two square wave signals jumps, the second square wave signal also jumps, and obtaining two square wave signals after timing processing; S3, filtering out unreasonable jumps in the two-way time-series processed square wave signals to obtain two-way output signals; S4. According to the current running status of the train, the tooth slots are counted in combination with the edges of the two output signals to determine the relative position of the high-speed maglev train.

2. A high-speed maglev train positioning and anti-shake method according to claim 1, characterized in that: When the first square wave signal in S2 changes, the condition for the second square wave signal to change is that the center of the coil corresponding to the first square wave signal is at least beyond the position of 1 / 2 of the slot structure.

3. A high-speed maglev train positioning anti-shake method according to claim 1, characterized in that: The unreasonable jump in S3 is specifically: if there is no jump of the second square wave signal between a first square wave signal jump and the next first square wave signal jump, then the first square wave signal jump is regarded as an unreasonable jump.

4. A high-speed maglev train positioning and anti-shake method according to claim 1, characterized in that: The two output signals in S3 include a first output signal and a second output signal, wherein the first output signal corresponds to a first square wave signal, and the second output signal corresponds to a second square wave signal.

5. A high-speed maglev train positioning and anti-shake method according to claim 4, characterized in that: In S4, if the current running state of the train is forward travel, the specific relationship between the two output signals and the two square wave signals is: the phase of the first square wave signal is the same as the phase of the first output signal, and the phase of the second square wave signal is the same as the phase of the second output signal.

6. A high-speed maglev train positioning anti-shake method according to claim 5, characterized in that: In S4, if the current running state of the train is forward running, the rising edge of the second output signal is used to count the tooth slots of the relative position sensor.

7. A high-speed maglev train positioning and anti-shake method according to claim 4, characterized in that: In S4, if the current running state of the train is reverse running, the specific relationship between the two output signals and the two square wave signals is: the first square wave signal leads the first output signal by 90°, and the second square wave signal leads the second output signal by 90°.

8. A high-speed maglev train positioning and anti-shake method according to claim 7, characterized in that: In S4, if the current running state of the train is reverse running, the falling edge of the first output signal is used to count the tooth slots of the relative position sensor.

9. A high-speed maglev train positioning and anti-shake method according to claim 4, characterized in that: In S4, if the current running state of the train is that the traveling direction has changed, the traveling direction of the train is first determined, and then the tooth slot count is performed.

10. A high-speed maglev train positioning and anti-shake system, characterized in that: The system is operated by a high-speed maglev train positioning and anti-shake method as described in any one of claims 1 to 9, and the system includes a relative position sensor module, a timing processing circuit module, and a tooth slot positioning module; The relative position sensor module is used to obtain two square wave signals; The timing processing circuit module is used to make the second square wave signal jump when the first square wave signal of the two square wave signals jumps, and obtain two output signals after filtering out unreasonable signals; The tooth slot positioning module is used to count the tooth slots according to the current running state of the train in combination with the edges of the two output signals, thereby determining the relative position of the high-speed maglev train.

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