Speed measurement positioning method of maglev train and related assembly

Abstract

The invention discloses a speed measuring and positioning method of a maglev train and a related assembly, and relates to the field of maglev train control. When the train speed of the maglev train exceeds a preset speed upper limit value, a long stator synchronous linear motor is directly used as a power source for the running of the maglev train; the speed of the maglev train can be determined according to the motor speed of the long-stator synchronous linear motor, that is, when the maglev train runs at a high speed, a ground control center does not need to communicate with a positioning test system arranged on the maglev train through a wireless transmission device; the running state of the maglev train can be directly determined by detecting the long-stator synchronous linear motor, transmission delay is avoided, meanwhile, position information and train speed are obtained through first coding information sent by the wireless transmission device, the two sets of measurement processes are mutually independent, and the measurement accuracy is high. The reliability of the speed measurement positioning result and the control stability of controlling the traction state of the maglev train are improved.

Description

Technical Field

[0001] The invention relates to the field of maglev train control, and in particular to a speed measurement and positioning method for a maglev train and related components. Background Art

[0002] Maglev trains are a new type of transportation. Common maglev trains rely on long-stator synchronous linear motors as power sources to achieve vehicle suspension, guidance and traction. The long-stator synchronous linear motors are set in sections, that is, the long-stator synchronous linear motors corresponding to each long-stator section of the maglev train are different. In order to achieve precise control of the maglev train, it is necessary to accurately and timely obtain the train position and speed information, that is, to transmit the train's operation status to the ground control center in real time, so as to determine the next control strategy according to the current state of the maglev train and ensure the safe and reliable operation of the maglev train.

[0003] Since the maglev train has no physical contact with the track during operation, in the prior art, it is generally connected to the ground control center by wireless communication. Specifically, a positioning test system is set on the maglev train, and the coding information of the positioning signboard set on the driving route of the maglev train and the magnetic pole phase angle of the long stator synchronous linear motor corresponding to the maglev train are read by the positioning test system, and the coding information and the magnetic pole phase angle are sent to the ground control center through a wireless transmission device. The processor in the ground control center determines the position and speed of the maglev train according to the coding information and the magnetic pole phase angle, that is, the maglev train is positioned according to the information sent by the positioning test system, and the traction state of the maglev train is controlled according to the positioning result. Since the communication link of the coded information is long and involves many links during the transmission process, as the speed of the maglev train increases, there will be problems such as information transmission delay, data error and other abnormal reading of the coded information, which greatly reduces the reliability of the speed measurement and positioning results, and the control of the traction state of the maglev train is not stable, which will seriously affect the operation safety of the maglev train. Summary of the invention

[0004] The purpose of the present invention is to provide a speed measurement and positioning method for a maglev train and related components. The two sets of measurement processes are independent of each other, thereby improving the reliability of the speed measurement and positioning results and the control stability of the traction state of the maglev train.

[0005] In order to solve the above technical problems, the present invention provides a speed measurement and positioning method for a maglev train, which is applied to a processor in a ground control center, wherein the processor is connected to a positioning test system provided on the maglev train through a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train. The speed measurement and positioning method comprises:

[0006] When a train test instruction is received, first position information and a first train speed of the maglev train are determined according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located, and the train test instruction is issued according to a preset test cycle;

[0007] Determine the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device, wherein the first coded information is the coded information obtained when the positioning test system reads the positioning mark plate;

[0008] Determining whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value;

[0009] If yes, taking the first position information and the first train speed as the current position information and the current train speed of the maglev train;

[0010] If not, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train.

[0011] On the one hand, determining the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device includes:

[0012] Determine the second absolute position of the positioning mark plate according to the first coded information sent by the wireless transmission device;

[0013] The second position information of the maglev train is determined according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula, wherein the second position information relationship formula is:

[0014] S1=A2+a*L+b*L

[0015] Wherein, S1 is the second position information of the maglev train, A2 is the second absolute position, a is the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, b is the first magnetic pole phase angle of the long stator synchronous linear motor, and L is the pole pitch of the long stator synchronous linear motor;

[0016] A second train speed of the maglev train is determined according to the second position information and a preset test cycle length.

[0017] On the one hand, before determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship, the method further includes:

[0018] determining whether the first magnetic pole phase angle is normal;

[0019] If yes, proceed to the step of determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship;

[0020] If not, the second position information is determined according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction, and a first interpolation relationship, wherein the first interpolation relationship is:

[0021] S1=S3+v1*t

[0022] Among them, S1 is the second position information, S3 is the third position information, v1 is the third train speed, and t is the cycle length of the test cycle.

[0023] On the one hand, determining whether the first magnetic pole phase angle is normal includes:

[0024] The third magnetic pole phase angle is determined according to the second magnetic pole phase angle before receiving the train test instruction, the third train speed, the cycle length of the test cycle and a second interpolation relationship, wherein the second interpolation relationship is:

[0025] b3=b2+v1*t

[0026] Wherein, b3 is the third magnetic pole phase angle, b2 is the second magnetic pole phase angle, v1 is the third train speed, and t is the period length of the test period;

[0027] Determining whether a difference between the third magnetic pole phase angle and the first magnetic pole phase angle is greater than a preset magnetic pole phase angle threshold;

[0028] If yes, it is determined that the first magnetic pole phase angle is abnormal;

[0029] If not, it is determined that the first magnetic pole phase angle is normal.

[0030] On the one hand, before determining the second position information according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction and the first interpolation relationship, the method further includes:

[0031] Determine whether the number of consecutive occurrences of the abnormal first magnetic pole phase angle is greater than a preset number;

[0032] If so, it is determined that there is a low-speed detection fault, and the low-speed detection fault flag determines that there is a fault in the process of determining the second position information and the second train speed of the maglev train based on the first coded information sent by the wireless transmission device.

[0033] On the one hand, determining whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value includes:

[0034] Determining whether the speed of the third train before receiving the train test instruction is less than a preset speed lower limit;

[0035] If the third train speed is less than the speed lower limit, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train;

[0036] If the third train speed is not less than the speed lower limit, determining whether the third train speed is less than a preset speed upper limit, the speed upper limit being greater than the speed lower limit;

[0037] If the third train speed is not less than a preset speed upper limit, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train;

[0038] If the third train speed is less than the preset speed upper limit, determining whether the low speed detection fault exists;

[0039] If the low-speed detection fault exists, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train;

[0040] If the low-speed detection failure does not exist, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train.

[0041] On the one hand, determining the first position information and the first train speed of the maglev train according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located includes:

[0042] determining a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section in which the maglev train is located;

[0043] Determining a first absolute position of the positioning mark plate according to the second coded information before receiving the second coded information;

[0044] The first position information of the maglev train is determined according to the first absolute position, the first train speed and a first position information relationship equation, wherein the first position information relationship equation is:

[0045] S2=A1+∫Vdt

[0046] Among them, S2 is the first position information of the maglev train, A1 is the first absolute position, and V is the first train speed.

[0047] The present invention also provides a speed measuring and positioning device for a maglev train, which is applied to a processor in a ground control center, wherein the processor is connected to a positioning test system provided on the maglev train through a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train, and the speed measuring and positioning device comprises:

[0048] a back-electromotive force detection module, for determining first position information and a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section where the maglev train is located, when receiving a train test instruction, the train test instruction being issued according to a preset test cycle;

[0049] A positioning plate detection module, used to determine the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device, wherein the first coded information is the coded information obtained when the positioning test system reads the positioning mark plate;

[0050] A speed detection module, used to determine whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value;

[0051] a first information determination module, configured to use the first position information and the first train speed as the current position information and the current train speed of the maglev train;

[0052] The second information determination module is used to, if not, use the second position information and the second train speed as the current position information and the current train speed of the maglev train.

[0053] The present invention also provides a ground control center, comprising:

[0054] Memory for storing computer programs;

[0055] A processor is connected to a positioning test system provided on a maglev train via a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train, and is used to implement the steps of the speed measurement and positioning method of the maglev train as described above when executing the computer program.

[0056] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the target computer program is executed by a processor, the steps of the method for measuring speed and positioning a maglev train as described above are implemented.

[0057] The present invention provides a speed measurement and positioning method for a maglev train and related components. When the train speed of the maglev train exceeds a preset upper speed limit, since a long-stator synchronous linear motor directly serves as a power source for the maglev train, the speed of the maglev train can be determined according to the motor speed of the long-stator synchronous linear motor. That is, when the maglev train is running at high speed, a ground control center does not need to communicate with a positioning test system arranged on the maglev train through a wireless transmission device, and can directly determine the running state of the maglev train by detecting the long-stator synchronous linear motor without transmission delay. At the same time, the position information and the train speed are also obtained through the first coded information sent by the wireless transmission device. The two sets of measurement processes are independent of each other, thereby improving the reliability of the speed measurement and positioning results and the control stability of controlling the traction state of the maglev train. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0059] Figure 1 A flow chart of a method for measuring speed and positioning a maglev train provided by an embodiment of the present invention;

[0060] Figure 2 A schematic structural diagram of a speed measuring and positioning device for a maglev train provided in an embodiment of the present invention;

[0061] Figure 3 A schematic diagram of the structure of a ground control center provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] The core of the present invention is to provide a speed measurement and positioning method for a maglev train and related components. The two sets of measurement processes are independent of each other, which improves the reliability of the speed measurement and positioning results and the control stability of the traction state of the maglev train.

[0063] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 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 are within the scope of protection of the present invention.

[0064] Please refer to Figure 1 , Figure 1 A flow chart of a speed measurement and positioning method for a maglev train provided in an embodiment of the present invention is applied to a processor in a ground control center. The processor is connected to a positioning test system provided on the maglev train through a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train. The speed measurement and positioning method includes:

[0065] S101: when a train test instruction is received, first position information and a first train speed of the maglev train are determined according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located, and the train test instruction is issued according to a preset test cycle;

[0066] S102: determining second position information and second train speed of the maglev train according to first coded information sent by the wireless transmission device, wherein the first coded information is coded information obtained when the positioning test system reads the positioning mark plate;

[0067] S103: Determine whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value;

[0068] S104: If yes, taking the first position information and the first train speed as the current position information and the current train speed of the maglev train;

[0069] S105: If not, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train.

[0070] In a specific embodiment, the processor of the ground control center periodically measures the current position information and current train speed of the maglev train according to a preset test cycle, which is equivalent to issuing a train test instruction once after each test cycle so that the processor measures the current position information and current train speed of the maglev train.

[0071] This embodiment does not limit the method for determining the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located. Generally, the back-EMF detection system of the ground control center is connected to the long stator synchronous linear motor and the motor control unit (CCU) respectively, and the frequency of the induced electromotive force of the long stator synchronous linear motor in the long stator section where the maglev train is located is measured. The frequency of the induced electromotive force is proportional to the rotation speed of the motor speed, so as to determine the motor speed of the long stator synchronous linear motor. It should be noted that the back-EMF detection system generally includes a current sensor, and may also include a voltage sensor, which estimates the position of the rotor by real-time detection of the stator current and voltage of the motor.

[0072] Since the long-stator synchronous linear motor directly serves as the power source for the maglev train, the motor speed of the long-stator synchronous linear motor is proportional to the speed of the maglev train. In some embodiments, the motor control unit of the ground control center calculates the speed and magnetic pole phase angle of the maglev train according to the induced potential, sends it to the processor of the ground control center, and then the processor calculates the first position information and the first train speed of the maglev train. Of course, the speed and magnetic pole phase angle of the maglev train can also be calculated according to the induced potential, and can also be completely realized by the processor of the ground control center, but the calculation by the motor control unit can relieve the calculation pressure of the processor, thereby speeding up the calculation speed.

[0073] In a specific embodiment, the positioning test system may include an absolute position sensor and a relative position sensor. When the maglev train passes through a positioning signboard set on the driving route during its travel, the absolute position sensor will read the coded information of the positioning signboard; and the relative position sensor is used to detect the change in the inductance of the coil according to the periodic change of the equivalent magnetic resistance of the long stator when the maglev train moves on the long stator, thereby accurately obtaining the number of tooth slots of the long stator synchronous linear motor and the magnetic pole phase angle of the long stator synchronous linear motor that the maglev train passes through. The positioning test system sends the coded information, the number of tooth slots and the magnetic pole phase angle of the long stator synchronous linear motor to the processor of the ground control center through a wireless transmission device. The processor uses the coded information read the most recently as the first coded information and the information read before the first coded information as the second coded information.

[0074] In other embodiments, the positioning test system may also include only an absolute position sensor, and the number of tooth slots and the magnetic pole phase angle of the long stator synchronous linear motor passed by the maglev train are obtained by the ground control center through detection of the long stator synchronous linear motor.

[0075] The present invention provides a speed measurement and positioning method for a maglev train and related components. When the train speed of the maglev train exceeds a preset upper speed limit, since a long-stator synchronous linear motor directly serves as a power source for the maglev train, the speed of the maglev train can be determined according to the motor speed of the long-stator synchronous linear motor. That is, when the maglev train is running at high speed, a ground control center does not need to communicate with a positioning test system arranged on the maglev train through a wireless transmission device, and can directly determine the running state of the maglev train by detecting the long-stator synchronous linear motor without transmission delay. At the same time, the position information and the train speed are also obtained through the first coded information sent by the wireless transmission device. The two sets of measurement processes are independent of each other, thereby improving the reliability of the speed measurement and positioning results and the control stability of controlling the traction state of the maglev train.

[0076] Based on the above embodiments:

[0077] In some embodiments, determining the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device includes:

[0078] Determine the second absolute position of the positioning mark plate according to the first coded information sent by the wireless transmission device;

[0079] The second position information of the maglev train is determined according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula. The second position information relationship formula is:

[0080] S1=A2+a*L+b*L

[0081] Wherein, S1 is the second position information of the maglev train, A2 is the second absolute position, a is the number of tooth slots of the long-stator synchronous linear motor that the maglev train passes, b is the first magnetic pole phase angle of the long-stator synchronous linear motor, and L is the pole pitch of the long-stator synchronous linear motor;

[0082] A second train speed of the maglev train is determined according to the second position information and a preset cycle length of the test cycle.

[0083] The positioning test system includes an absolute position sensor and a relative position sensor. When the maglev train passes through the positioning mark plate set on the driving route during its travel, the absolute position sensor will read the coded information of the positioning mark plate; while the relative position sensor is used to detect the change in the inductance of the coil according to the periodic change of the equivalent magnetic resistance of the long stator when the maglev train moves on the long stator. The number of tooth slots and the magnetic pole phase angle of the long stator synchronous linear motor that the maglev train passes through can be accurately obtained by detecting the change in the inductance of the coil. The positioning test system sends the coded information, the number of tooth slots and the magnetic pole phase angle of the long stator synchronous linear motor to the processor of the ground control center through a wireless transmission device, and the processor uses the coded information read most recently as the first coded information.

[0084] In other embodiments, the positioning test system may also include only an absolute position sensor, and the number of tooth slots and the magnetic pole phase angle of the long stator synchronous linear motor passed by the maglev train are obtained by the ground control center through detection of the long stator synchronous linear motor.

[0085] It should be noted that the number of tooth slots mentioned in this embodiment is the number of tooth slots of the long stator synchronous linear motor that the maglev train passes through in the process from reading the first coding information from the positioning test system to receiving the train test instruction; the magnetic pole phase angle mentioned in this embodiment is the magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received.

[0086] In a specific embodiment, the period length of a preset test period is used as the travel time of the maglev train, and the distance covered by the maglev train during the travel time is determined according to the second position information, so as to determine the second train speed of the maglev train.

[0087] This embodiment determines that the second train speed test result of the maglev train is accurate based on the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, and the pole pitch of the long stator synchronous linear motor.

[0088] In some embodiments, before determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship, the method further includes:

[0089] Determine whether the first magnetic pole phase angle is normal;

[0090] If yes, then proceed to the step of determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship;

[0091] If not, the second position information is determined according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction, and the first interpolation relationship, and the first interpolation relationship is:

[0092] S1=S3+v1*t

[0093] Among them, S1 is the second position information, S3 is the third position information, v1 is the third train speed, and t is the cycle length of the test cycle.

[0094] In a specific embodiment, before calculating the second position information of the maglev train according to the second position information relationship, it is also necessary to detect the credibility of the data required in the second position information relationship, that is, to determine whether the first magnetic pole phase angle is normal. If it is normal, the calculation of the second position information can continue. If it is abnormal, the second position information of the maglev train is estimated based on interpolation.

[0095] This embodiment does not limit the specific judgment method for determining whether the first magnetic pole phase angle is normal. For example, the magnetic pole phase angle may be estimated based on interpolation. If the first magnetic pole phase angle deviates too much from the estimated value, the first magnetic pole phase angle is determined to be abnormal. Alternatively, the communication process from the positioning test system of the maglev train to the wireless transmission device and then to the processor of the ground control center may be detected. If the communication fails, the first magnetic pole phase angle is determined to be abnormal. Alternatively, other judgment methods may be used, which should be determined by technicians in this field according to actual conditions.

[0096] In some embodiments, the credibility of the second position information calculated by the second position information relationship formula is also tested. If the second position information is not credible, the second position information of the maglev train is re-estimated based on interpolation.

[0097] In this embodiment, when the first magnetic pole phase angle is abnormal, the second position information of the maglev train is estimated by interpolation to ensure that the final result is not too different from the actual second position information of the maglev train, thereby improving the reliability of the speed measurement and positioning results and the control stability of the traction state of the maglev train.

[0098] In some embodiments, determining whether the first magnetic pole phase angle is normal includes:

[0099] The third magnetic pole phase angle is determined according to the second magnetic pole phase angle before receiving the train test instruction, the third train speed, the cycle length of the test cycle and the second interpolation relationship, and the second interpolation relationship is:

[0100] b3=b2+v1*t

[0101] Wherein, b3 is the third magnetic pole phase angle, b2 is the second magnetic pole phase angle, v1 is the third train speed, and t is the cycle length of the test cycle;

[0102] Determine whether the difference between the third magnetic pole phase angle and the first magnetic pole phase angle is greater than a preset magnetic pole phase angle threshold;

[0103] If yes, it is determined that the first magnetic pole phase angle is abnormal;

[0104] If not, it is determined that the first magnetic pole phase angle is normal.

[0105] This embodiment estimates the first magnetic pole phase angle by interpolation. If the received first magnetic pole phase angle deviates too much from the estimated result, that is, the difference between the third magnetic pole phase angle and the first magnetic pole phase angle is greater than the preset magnetic pole phase angle threshold, it indicates that the received first magnetic pole phase angle is incorrect. At this time, it is determined that the first magnetic pole phase angle is abnormal to improve the reliability of the speed measurement and positioning results.

[0106] In some embodiments, before determining the second position information according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction and the first interpolation relationship, the method further includes:

[0107] Determine whether the number of times the abnormal first magnetic pole phase angle occurs continuously is greater than a preset number;

[0108] If so, it is determined that there is a low-speed detection fault, and the low-speed detection fault flag indicates that there is a fault in the process of determining the second position information and the second train speed of the maglev train based on the first coded information sent by the wireless transmission device.

[0109] In some embodiments, when it is determined that a low speed detection fault exists, traction will implement a protective blockade.

[0110] When the number of times the abnormal phase angle of the first magnetic pole occurs continuously is greater than the preset number, that is, the abnormal data continues to appear for more than the preset time, it is very likely that the test system has a fault, and a corresponding fault prompt will be given to improve the reliability of the speed measurement and positioning results.

[0111] In some embodiments, determining whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value includes:

[0112] Determining whether the speed of the third train before receiving the train test instruction is less than a preset speed lower limit;

[0113] If the third train speed is less than the speed lower limit, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train;

[0114] If the speed of the third train is not less than the speed lower limit, determining whether the speed of the third train is less than a preset speed upper limit, and the speed upper limit is greater than the speed lower limit;

[0115] If the third train speed is not less than the preset speed upper limit, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train;

[0116] If the speed of the third train is less than the preset speed upper limit, it is determined whether there is a low speed detection fault;

[0117] If there is a low-speed detection fault, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train;

[0118] If there is no low-speed detection failure, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train.

[0119] Since the second position information and the second train speed of the maglev train are determined based on the first coded information sent by the wireless transmission device, when the speed of the maglev train is too fast, the accuracy of the test may be affected due to problems such as wireless communication transmission delay. And since the first position information and the first train speed of the maglev train are determined based on the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located, it is difficult to accurately obtain the motor speed of the long stator synchronous linear motor when the speed of the maglev train is low, so the upper speed limit and the lower speed limit are set.

[0120] In some embodiments, the ground control center also includes a back-EMF detection system, according to which the motor speed and magnetic pole phase angle of the long stator synchronous linear motor in the long stator section where the maglev train is located can be determined, and before determining the first position information and the first train speed of the maglev train according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located, it is also necessary to determine whether the motor speed and the magnetic pole phase angle are normal. Specifically, it can be determined that the motor speed is abnormal when the motor speed exceeds the preset normal range, the magnetic pole phase angle can be estimated based on interpolation, and if the magnetic pole phase angle deviates too much from the estimated value, the magnetic pole phase angle is determined to be abnormal, or the deviation value between the motor speed and the motor control instruction can be detected, and if the deviation is too large, the motor speed is determined to be abnormal, or other judgment methods can be used, and this embodiment does not make specific limitations.

[0121] When the number of times the motor speed and / or magnetic pole phase angle are abnormal is greater than a preset number, it is determined that a high-speed detection fault exists. The high-speed detection fault flag indicates that there is a fault in the process of determining the first position information and the first train speed of the maglev train based on the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located.

[0122] When the third train speed is greater than the lower speed limit and less than the upper speed limit, first determine whether there is a low-speed detection fault. If there is no low-speed detection fault, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train. If there is a low-speed detection fault, determine whether there is a high-speed detection fault. If there is no high-speed detection fault, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train. If there is a high-speed detection fault, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train to improve the reliability of the test results.

[0123] In some embodiments, determining the first position information and the first train speed of the maglev train according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located includes:

[0124] determining a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section where the maglev train is located;

[0125] Determining a first absolute position of the positioning mark plate according to the second coded information before receiving the second coded information;

[0126] The first position information of the maglev train is determined according to the first absolute position, the first train speed and the first position information relationship. The first position information relationship is:

[0127] S2=A1+∫Vdt

[0128] Among them, S2 is the first position information of the maglev train, A1 is the first absolute position, and V is the first train speed.

[0129] This embodiment does not limit the method for determining the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located. Generally, the back-EMF detection system of the ground control center is used. The back-EMF detection system is connected to the long stator synchronous linear motor and the motor control unit respectively, and the frequency of the induced electromotive force of the long stator synchronous linear motor in the long stator section where the maglev train is located is measured. The frequency of the induced electromotive force is proportional to the rotation speed of the motor speed, so as to determine the motor speed of the long stator synchronous linear motor. It should be noted that the back-EMF detection system generally includes a current sensor, and may also include a voltage sensor, which estimates the position of the rotor by real-time detection of the stator current and voltage of the motor.

[0130] Since the long-stator synchronous linear motor directly serves as the power source for the maglev train, the motor speed of the long-stator synchronous linear motor is proportional to the speed of the maglev train. In some embodiments, the motor control unit of the ground control center calculates the speed and magnetic pole phase angle of the maglev train according to the induced potential, sends it to the processor of the ground control center, and then the processor calculates the first position information and the first train speed of the maglev train. Of course, the speed and magnetic pole phase angle of the maglev train can also be calculated according to the induced potential, and can also be completely realized by the processor of the ground control center, but the calculation by the motor control unit can relieve the calculation pressure of the processor, thereby speeding up the calculation speed.

[0131] Please refer to Figure 2 , Figure 2 A schematic diagram of the structure of a speed measuring and positioning device for a maglev train provided in an embodiment of the present invention is applied to a processor in a ground control center. The processor is connected to a positioning test system provided on the maglev train through a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train. The speed measuring and positioning device includes:

[0132] The back-electromotive force detection module 201 is used to determine the first position information and the first train speed of the maglev train according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located when receiving the train test instruction, and the train test instruction is issued according to a preset test cycle;

[0133] The positioning plate detection module 202 is used to determine the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device, wherein the first coded information is the coded information obtained when the positioning test system reads the positioning mark plate;

[0134] The speed detection module 203 is used to determine whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value;

[0135] A first information determination module 204, configured to use the first position information and the first train speed as the current position information and the current train speed of the maglev train;

[0136] The second information determination module 205 is configured to, if not, use the second position information and the second train speed as the current position information and the current train speed of the maglev train.

[0137] In some embodiments, the positioning plate detection module 202 includes:

[0138] A second absolute position determination module, used to determine a second absolute position of the positioning mark plate according to the first coded information sent by the wireless transmission device;

[0139] The second position information determination module is used to determine the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula, wherein the second position information relationship formula is:

[0140] S1=A2+a*L+b*L

[0141] Wherein, S1 is the second position information of the maglev train, A2 is the second absolute position, a is the number of tooth slots of the long-stator synchronous linear motor that the maglev train passes, b is the first magnetic pole phase angle of the long-stator synchronous linear motor, and L is the pole pitch of the long-stator synchronous linear motor;

[0142] The second train speed determination module is used to determine the second train speed of the maglev train according to the second position information and the cycle length of the preset test cycle.

[0143] In some embodiments, it also includes:

[0144] A magnetic pole phase angle judgment module, used to judge whether the first magnetic pole phase angle is normal;

[0145] The magnetic pole phase angle normal module is used for, if yes, to enter the step of determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship;

[0146] The magnetic pole phase angle abnormality module is used to determine the second position information according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction and the first interpolation relationship, if not, the first interpolation relationship is:

[0147] S1=S3+v1*t

[0148] Among them, S1 is the second position information, S3 is the third position information, v1 is the third train speed, and t is the cycle length of the test cycle.

[0149] In some embodiments, the magnetic pole phase angle determination module includes:

[0150] The magnetic pole phase angle estimation module is used to determine the third magnetic pole phase angle according to the second magnetic pole phase angle before receiving the train test instruction, the third train speed, the cycle length of the test cycle and the second interpolation relationship, and the second interpolation relationship is:

[0151] b3=b2+v1*t

[0152] Wherein, b3 is the third magnetic pole phase angle, b2 is the second magnetic pole phase angle, v1 is the third train speed, and t is the cycle length of the test cycle;

[0153] A magnetic pole phase angle threshold module, used to determine whether the difference between the third magnetic pole phase angle and the first magnetic pole phase angle is greater than a preset magnetic pole phase angle threshold;

[0154] A normal determination module, used for determining that the first magnetic pole phase angle is abnormal if yes;

[0155] The abnormality determination module is used to determine whether the first magnetic pole phase angle is normal if no.

[0156] In some embodiments, it also includes:

[0157] A preset number detection module, used to determine whether the number of consecutive occurrences of the abnormal first magnetic pole phase angle is greater than a preset number;

[0158] The fault determination module is used to determine that if yes, there is a low-speed detection fault, and the low-speed detection fault flag determines that there is a fault in the process of determining the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device.

[0159] In some embodiments, the speed detection module 203 includes:

[0160] A speed lower limit detection module, used to determine whether the speed of the third train before receiving the train test instruction is less than a preset speed lower limit value;

[0161] A third information determination module, configured to use the second position information and the second train speed as the current position information and the current train speed of the maglev train if the third train speed is less than the lower speed limit;

[0162] The speed upper limit detection module is used to determine whether the speed of the third train is less than a preset speed upper limit value if the speed of the third train is not less than the speed lower limit value, and the speed upper limit value is greater than the speed lower limit value;

[0163] a fourth information determination module, configured to use the first position information and the first train speed as the current position information and the current train speed of the maglev train if the third train speed is not less than a preset speed upper limit;

[0164] A low-speed fault detection module is used to determine whether there is a low-speed detection fault if the speed of the third train is less than a preset speed upper limit value;

[0165] a fifth information determination module, configured to use the first position information and the first train speed as the current position information and the current train speed of the maglev train if a low-speed detection fault exists;

[0166] The sixth information determination module is used to use the second position information and the second train speed as the current position information and the current train speed of the maglev train if there is no low-speed detection failure.

[0167] In some embodiments, the back EMF detection module 201 includes:

[0168] A motor speed determination module, used for determining a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section where the maglev train is located;

[0169] A first absolute position determination module, used to determine a first absolute position of the positioning mark plate according to the second coded information before receiving the second coded information;

[0170] The first position information determination module is used to determine the first position information of the maglev train according to the first absolute position, the first train speed and the first position information relationship formula, and the first position information relationship formula is:

[0171] S2=A1+∫Vdt

[0172] Among them, S2 is the first position information of the maglev train, A1 is the first absolute position, and V is the first train speed.

[0173] For the introduction of the speed measuring and positioning device for a maglev train provided in the present application, please refer to the above-mentioned embodiment, which will not be described in detail here.

[0174] Please refer to Figure 3 , Figure 3 A schematic diagram of the structure of a ground control center provided by an embodiment of the present invention includes:

[0175] Memory 302, used for storing computer programs;

[0176] Processor 303, the processor is connected to the positioning test system 305 set on the maglev train through the wireless transmission device 304, and the processor is connected to the long stator synchronous linear motor of the maglev train, and is used to implement the steps of the speed measurement and positioning method of the maglev train as mentioned above when executing the computer program.

[0177] For an introduction to a ground control center 301 provided in the present application, please refer to the above embodiment, which will not be repeated here.

[0178] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the target computer program is executed by a processor, the steps of the speed measurement and positioning method of a maglev train as described above are implemented.

[0179] For an introduction to a computer-readable storage medium provided in the present application, please refer to the above embodiment, which will not be repeated here.

[0180] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0181] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0182] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Claims

1. A method for measuring speed and positioning of a maglev train, characterized in that: A processor used in a ground control center, the processor is connected to a positioning test system provided on a maglev train through a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train, and the speed measurement and positioning method includes: When a train test instruction is received, first position information and a first train speed of the maglev train are determined according to the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located, and the train test instruction is issued according to a preset test cycle; Determine the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device, wherein the first coded information is the coded information obtained when the positioning test system reads the positioning mark plate; Determining whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value; If yes, taking the first position information and the first train speed as the current position information and the current train speed of the maglev train; If not, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train.

2. The method for measuring speed and positioning of a maglev train according to claim 1, characterized in that: Determining the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device includes: Determine the second absolute position of the positioning mark plate according to the first coded information sent by the wireless transmission device; The second position information of the maglev train is determined according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula, wherein the second position information relationship formula is: S1=A2+a*L+b*L Wherein, S1 is the second position information of the maglev train, A2 is the second absolute position, a is the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, b is the first magnetic pole phase angle of the long stator synchronous linear motor, and L is the pole pitch of the long stator synchronous linear motor; A second train speed of the maglev train is determined according to the second position information and a preset test cycle length.

3. The method for measuring speed and positioning of a maglev train according to claim 2, characterized in that: Before determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor passed by the maglev train, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship, the method further includes: determining whether the first magnetic pole phase angle is normal; If yes, proceed to the step of determining the second position information of the maglev train according to the second absolute position, the number of tooth slots of the long stator synchronous linear motor that the maglev train passes, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test instruction is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship; If not, the second position information is determined according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction, and a first interpolation relationship, wherein the first interpolation relationship is: S1=S3+v1*t Among them, S1 is the second position information, S3 is the third position information, v1 is the third train speed, and t is the cycle length of the test cycle.

4. The method for measuring speed and positioning of a maglev train according to claim 3, characterized in that: Determining whether the first magnetic pole phase angle is normal includes: The third magnetic pole phase angle is determined according to the second magnetic pole phase angle before receiving the train test instruction, the third train speed, the cycle length of the test cycle and a second interpolation relationship, wherein the second interpolation relationship is: b3=b2+v1*t Wherein, b3 is the third magnetic pole phase angle, b2 is the second magnetic pole phase angle, v1 is the third train speed, and t is the period length of the test period; Determining whether a difference between the third magnetic pole phase angle and the first magnetic pole phase angle is greater than a preset magnetic pole phase angle threshold; If yes, it is determined that the first magnetic pole phase angle is abnormal; If not, it is determined that the first magnetic pole phase angle is normal.

5. The method for measuring speed and positioning of a maglev train according to claim 4, characterized in that: Before determining the second position information according to the third train speed, the cycle length of the test cycle, the third position information before receiving the train test instruction and the first interpolation relationship, the method further includes: Determine whether the number of consecutive occurrences of the abnormal first magnetic pole phase angle is greater than a preset number; If so, it is determined that there is a low-speed detection fault, and the low-speed detection fault flag determines that there is a fault in the process of determining the second position information and the second train speed of the maglev train based on the first coded information sent by the wireless transmission device.

6. The method for measuring speed and positioning of a maglev train according to claim 5, characterized in that: Determining whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value includes: Determining whether the speed of the third train before receiving the train test instruction is less than a preset speed lower limit; If the third train speed is less than the speed lower limit, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train; If the third train speed is not less than the speed lower limit, determining whether the third train speed is less than a preset speed upper limit, the speed upper limit being greater than the speed lower limit; If the third train speed is not less than a preset speed upper limit, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train; If the third train speed is less than the preset speed upper limit, determining whether the low speed detection fault exists; If the low-speed detection fault exists, the first position information and the first train speed are used as the current position information and the current train speed of the maglev train; If the low-speed detection failure does not exist, the second position information and the second train speed are used as the current position information and the current train speed of the maglev train.

7. The method for measuring speed and positioning of a maglev train according to any one of claims 1 to 6, characterized in that: Determining first position information and a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section where the maglev train is located comprises: determining a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section in which the maglev train is located; Determining a first absolute position of the positioning mark plate according to the second coded information before receiving the second coded information; The first position information of the maglev train is determined according to the first absolute position, the first train speed and a first position information relationship equation, wherein the first position information relationship equation is: S2=A1+∫Vdt Among them, S2 is the first position information of the maglev train, A1 is the first absolute position, and V is the first train speed.

8. A speed measuring and positioning device for a maglev train, characterized in that: A processor used in a ground control center, the processor is connected to a positioning test system provided on a maglev train through a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train, the speed measurement and positioning device comprising: a back-electromotive force detection module, for determining first position information and a first train speed of the maglev train according to a motor speed of a long stator synchronous linear motor in a long stator section where the maglev train is located, when receiving a train test instruction, the train test instruction being issued according to a preset test cycle; A positioning plate detection module, used to determine the second position information and the second train speed of the maglev train according to the first coded information sent by the wireless transmission device, wherein the first coded information is the coded information obtained when the positioning test system reads the positioning mark plate; A speed detection module, used to determine whether the third train speed before receiving the train test instruction is greater than a preset speed upper limit value; a first information determination module, configured to use the first position information and the first train speed as the current position information and the current train speed of the maglev train; The second information determination module is used to, if not, use the second position information and the second train speed as the current position information and the current train speed of the maglev train.

9. A ground control center, characterized in that: include: Memory for storing computer programs; A processor, wherein the processor is connected to a positioning test system provided on a maglev train via a wireless transmission device, and the processor is connected to a long-stator synchronous linear motor of the maglev train, and is used to implement the steps of the speed measurement and positioning method of a maglev train as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The target computer-readable storage medium stores a computer program, and when the target computer program is executed by a processor, the steps of the method for measuring speed and positioning a maglev train as claimed in any one of claims 1 to 7 are implemented.

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