A speed measurement and positioning method for a maglev train and related components

Abstract

This invention discloses a speed measurement and positioning method and related components for maglev trains, relating to the field of maglev train control. When the speed of the maglev train exceeds a preset speed limit, since the long stator synchronous linear motor directly serves as the power source for the maglev train, the speed of the maglev train can be determined based on the motor speed of the long stator synchronous linear motor. That is, when the maglev train is running at high speed, the ground control center does not need to communicate with the positioning test system set on the maglev train through a wireless transmission device. The operating status of the maglev train can be directly determined by detecting the long stator synchronous linear motor, without transmission delay. At the same time, the position information and train speed are obtained through the first coded information sent by the wireless transmission device. The two measurement processes are independent of each other, which improves the reliability of the speed measurement and positioning results and the control stability of controlling the traction state of the maglev train.

Description

Technical Field

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

[0002] Maglev trains are a new type of transportation. Common maglev trains rely on long-stator synchronous linear motors as their power source to achieve levitation, guidance, and traction. These long-stator synchronous linear motors are segmented; that is, the long-stator synchronous linear motor corresponding to each segment of the maglev train is different. To achieve precise control of the maglev train, accurate and timely acquisition of train position and speed information is required. This means transmitting the train's operating status in real time to the ground control center so that the next control strategy can be determined based on the current state of the maglev train, ensuring its safe and reliable operation.

[0003] Since maglev trains do not have physical contact with the track during operation, current technologies typically communicate with the ground control center wirelessly. Specifically, a positioning test system is installed on the maglev train. This system reads the coded information from positioning markers along the train's route and the magnetic pole phase angle of the corresponding long-stator synchronous linear motor. This information is then wirelessly transmitted to the ground control center. The processor at the ground control center determines the maglev train's position and speed based on this information, essentially locating the train using the information from the positioning test system and controlling its traction based on the positioning results. However, due to the long communication link and numerous involved in the transmission of coded information, as the maglev train's speed increases, problems such as transmission delays and data errors can occur, significantly reducing the reliability of speed measurement and positioning results. This leads to unstable control of the maglev train's traction, and in severe cases, can compromise its operational safety. Summary of the Invention

[0004] The purpose of this invention is to provide a speed measurement and positioning method and related components for maglev trains. The two 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.

[0005] To address the aforementioned technical problems, this invention provides a speed measurement and positioning method for maglev trains, applied to a processor in a ground control center. The processor is connected to a positioning test system installed on the maglev train via a wireless transmission device, and is also connected to the long-stator synchronous linear motor of the maglev train. The speed measurement and positioning method includes:

[0006] When a train test command is received, 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, and the train test command is issued according to a preset test cycle.

[0007] The second position information and the second speed of the maglev train are determined based on the first encoded information sent by the wireless transmission device. The first encoded information is the encoded information obtained by the positioning test system when reading the positioning mark plate.

[0008] Determine whether the speed of the third train before receiving the train test command is greater than a preset speed limit value;

[0009] If so, the first position information and the first train speed are used as the current position information and current train speed of the maglev train;

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

[0011] On the one hand, based on the first coded information sent by the wireless transmission device, the second position information and the second train speed of the maglev train are determined, including:

[0012] The second absolute position of the positioning marker is determined based on the first encoded information sent by the wireless transmission device.

[0013] Based on 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 command is received, the pole pitch of the long stator synchronous linear motor, and the relationship between the second position information, the second position information relationship of the maglev train is determined. The second position information relationship is as follows:

[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] The second train speed of the maglev train is determined based on the second position information and the preset test cycle length.

[0017] On the one hand, before determining the second position information of the maglev train based on 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 command is received, the pole pitch of the long stator synchronous linear motor, and the relationship between the second position information, the process further includes:

[0018] Determine if the phase angle of the first magnetic pole is normal;

[0019] If so, proceed to the step of determining the second position information of the maglev train based on 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 command is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula.

[0020] If not, the second position information is determined based on the third train speed, the cycle length of the test cycle, the third position information before receiving the train test command, and the first interpolation formula, wherein the first interpolation formula is:

[0021] S1 = S3 + v1*t

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

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

[0024] Based on the second magnetic pole phase angle before receiving the train test command, the third train speed, the period length of the test cycle, and the second interpolation formula, the third magnetic pole phase angle is determined. The second interpolation formula is as follows:

[0025] b3 = b2 + v1 * t

[0026] Where 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 cycle;

[0027] 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;

[0028] If so, then the phase angle of the first magnetic pole is determined to be abnormal;

[0029] If not, then the phase angle of the first magnetic pole is determined to be normal.

[0030] On the one hand, before determining the second position information based on the third train speed, the cycle length of the test cycle, the third position information before receiving the train test command, and the first interpolation formula, the method further includes:

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

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

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

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

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

[0036] If the speed of the third train is not less than the lower speed limit, determine whether the speed of the third train is less than the preset upper speed limit, wherein the upper speed limit is greater than the lower speed limit;

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

[0038] If the speed of the third train is less than the preset speed limit, then it is determined whether the low-speed detection fault exists.

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

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

[0041] On the one hand, based on the motor speed of the long stator synchronous linear motor within the long stator section where the maglev train is located, the first position information and the first train speed of the maglev train are determined, including:

[0042] The first train speed of the maglev train is determined based on the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located.

[0043] The first absolute position of the positioning marker is determined based on the second encoded information received before the second encoded information is received;

[0044] Based on the first absolute position, the first train speed, and the first position information relationship, the first position information relationship of the maglev train is determined, wherein the first position information relationship is:

[0045] S2=A1+∫Vdt

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

[0047] This invention also provides a speed measurement and positioning device for a maglev train, applied to a processor in a ground control center. The processor is connected to a positioning test system installed on the maglev train via a wireless transmission device, and the processor is also connected to the long stator synchronous linear motor of the maglev train. The speed measurement and positioning device includes:

[0048] The back EMF detection module is used to determine 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 when a train test command is received. The train test command is issued according to a preset test cycle.

[0049] The positioning plate detection module is used to determine the second position information and the second train speed of the maglev train based on the first encoded information sent by the wireless transmission device. The first encoded information is the encoded information obtained by the positioning test system when reading the positioning mark plate.

[0050] The speed detection module is used to determine whether the speed of the third train before receiving the train test command is greater than the preset speed limit value;

[0051] The first information determination module is used to, if so, take the first position information and the first train speed as the current position information and current train speed of the maglev train.

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

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

[0054] Memory, used to store computer programs;

[0055] The processor is connected to the positioning test system installed on the maglev train via a wireless transmission device. The processor is also connected to the long stator synchronous linear motor of the maglev train. When executing the computer program, the processor implements the steps of the speed measurement and positioning method of the maglev train as described above.

[0056] The present invention also provides a computer-readable storage medium on which a computer program is stored, wherein the target computer program, when executed by a processor, implements the steps of the speed measurement and positioning method for maglev trains as described above.

[0057] This invention provides a speed measurement and positioning method and related components for maglev trains. When the speed of the maglev train exceeds a preset speed limit, since the long stator synchronous linear motor directly serves as the power source for the maglev train, the speed of the maglev train can be determined based on the motor speed of the long stator synchronous linear motor. That is, when the maglev train is running at high speed, the ground control center does not need to communicate with the positioning test system set on the maglev train through a wireless transmission device. The operating status of the maglev train can be directly determined by detecting the long stator synchronous linear motor without transmission delay. At the same time, the position information and train speed are obtained through the first coded information sent by the wireless transmission device. The two measurement processes are independent of each other, which improves the reliability of the speed measurement and positioning results and the control stability of controlling the traction state of the maglev train. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0059] Figure 1 A flowchart illustrating a speed measurement and positioning method for a maglev train, provided as an embodiment of the present invention;

[0060] Figure 2 This is 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;

[0061] Figure 3 This is a schematic diagram of the structure of a ground control center provided in an embodiment of the present invention. Detailed Implementation

[0062] The core of this invention is to provide a speed measurement and positioning method and related components for maglev trains. The two 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] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0064] Please refer to Figure 1 , Figure 1 The flowchart of a speed measurement and positioning method for a maglev train provided in this embodiment of the invention is applied to a processor in a ground control center. The processor is connected to a positioning test system installed on the maglev train via a wireless transmission device, and the processor is also connected to the long stator synchronous linear motor of the maglev train. The speed measurement and positioning method includes:

[0065] S101: When a train test command is received, 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. The train test command is issued according to the preset test cycle.

[0066] S102: Determine the second position information and the second speed of the maglev train based on the first encoded information sent by the wireless transmission device. The first encoded information is the encoded information obtained by the positioning test system when reading the positioning mark plate.

[0067] S103: Determine whether the speed of the third train before receiving the train test command is greater than the preset speed limit;

[0068] S104: If so, the first position information and the first train speed shall be used as the current position information and current train speed of the maglev train;

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

[0070] In a specific embodiment, the processor at the ground control center periodically measures the current position information and current speed of the maglev train according to a preset test cycle. This is equivalent to issuing a train test command once every test cycle, so that the processor can measure the current position information and current 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 within the long stator section where the maglev train is located. Generally, it uses a back EMF detection system at the ground control center. This system is connected to both the long stator synchronous linear motor and the motor control unit (CCU). It measures the frequency of the induced electromotive force (EMF) of the long stator synchronous linear motor within the long stator section through which the maglev train travels. The frequency of the induced EMF is proportional to the motor speed, thus determining the motor speed. It should be noted that the back EMF detection system generally includes a current sensor, but may also include a voltage sensor. The rotor position is estimated by real-time detection of the motor's stator current and voltage.

[0072] Since the long-stator synchronous linear motor directly serves as the power source for the maglev train, its speed is directly proportional to the train's speed. In some embodiments, the motor control unit at the ground control center calculates the maglev train's speed and magnetic pole phase angle based on the induced electromotive force (EMF) and sends this information to the processor at the ground control center. The processor then calculates the maglev train's first position information and first speed. Of course, the maglev train's speed and magnetic pole phase angle can also be calculated based on the induced EMF, or the calculation can be entirely performed by the processor at the ground control center. However, using the motor control unit for calculation alleviates the processor's computational burden and thus speeds up the calculation process.

[0073] In a specific embodiment, the positioning test system may include absolute position sensors and relative position sensors. When the maglev train passes a positioning marker on the route, the absolute position sensor reads the coded information of the marker. The relative position sensor, on the other hand, is used to detect the periodic changes in the equivalent magnetic reluctance of the maglev train's path as it moves on the long stator due to the influence of the stator's tooth structure. This change in the equivalent inductance of the corresponding sensor coil is caused by these changes in inductance. By detecting these changes, the system accurately obtains the number of tooth slots and the magnetic pole phase angle of the long stator synchronous linear motor that the maglev train passes. The positioning test system transmits the coded information, the number of tooth slots, and the magnetic pole phase angle of the long stator synchronous linear motor to the processor at the ground control center via a wireless transmission device. The processor uses the most recently read coded information 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 include only an absolute position sensor, and 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 passed by the maglev train are obtained by the ground control center through the detection of the long stator synchronous linear motor.

[0075] This invention provides a speed measurement and positioning method and related components for maglev trains. When the speed of the maglev train exceeds a preset speed limit, since the long stator synchronous linear motor directly serves as the power source for the maglev train, the speed of the maglev train can be determined based on the motor speed of the long stator synchronous linear motor. That is, when the maglev train is running at high speed, the ground control center does not need to communicate with the positioning test system set on the maglev train through a wireless transmission device. The operating status of the maglev train can be directly determined by detecting the long stator synchronous linear motor without transmission delay. At the same time, the position information and train speed are obtained through the first coded information sent by the wireless transmission device. The two measurement processes are independent of each other, which improves 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 based on the first coded information transmitted by the wireless transmission device includes:

[0078] The second absolute position of the positioning marker is determined based on the first coded information sent by the wireless transmission device.

[0079] Based on 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 command is received, the pole pitch of the long stator synchronous linear motor, and the relationship between the second position information, the second position information of the maglev train is determined. The relationship between the second position information is as follows:

[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 through, 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] The second train speed of the maglev train is determined based on the second position information and the preset test cycle length.

[0083] The positioning test system includes absolute position sensors and relative position sensors. When the maglev train passes positioning markers along the route, the absolute position sensor reads the coded information from the markers. The relative position sensor, on the other hand, detects the periodic changes in the equivalent magnetic reluctance of the long stator due to its slotted structure as the maglev train moves. This change in the equivalent inductance of the sensor coil is proportional to the change in inductance, allowing the system to accurately determine the number of slots and the phase angle of the long stator synchronous linear motors as the train passes. The positioning test system then transmits the coded information, the number of slots, and the phase angle of the long stator synchronous linear motors wirelessly to the processor at the ground control center. The processor uses the most recently read coded information as the first coded information.

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

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

[0086] In a specific embodiment, the length of the preset test cycle is taken as the travel time of the maglev train. The distance traveled by the maglev train during this travel time is determined based on the second position information, and the second train speed of the maglev train can be determined.

[0087] In this embodiment, the second train speed test result of the maglev train is accurately determined based on 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 command 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 based on the second absolute position, the number of tooth slots of the long stator synchronous linear motor traversed by the maglev train, the first magnetic pole phase angle of the long stator synchronous linear motor when the train test command is received, the pole pitch of the long stator synchronous linear motor, and the relationship between the second position information, the method further includes:

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

[0090] If so, proceed to the step of determining the second position information of the maglev train based on 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 command is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula.

[0091] If not, the second position information is determined based on the third train speed, the test cycle length, the third position information before receiving the train test command, and the first interpolation formula. The first interpolation formula is:

[0092] S1 = S3 + v1*t

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

[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 reliability 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 not normal, the second position information of the maglev train is estimated by interpolation.

[0095] This embodiment does not limit the specific method for determining whether the first magnetic pole phase angle is normal. For example, it can be based on interpolation to estimate the magnetic pole phase angle. 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 can be detected. If a communication failure occurs, the first magnetic pole phase angle is determined to be abnormal. Or other methods can be used, which should be determined by those skilled in the art based on the actual situation.

[0096] In some embodiments, the reliability of the second location information calculated through the second location information relation is also tested. If the second location information is not reliable, the second location 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 does not differ too much 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 phase angle of the first magnetic pole is normal includes:

[0099] Based on the second magnetic pole phase angle before receiving the train test command, the third train speed, the test cycle length, and the second interpolation formula, the third magnetic pole phase angle is determined. The second interpolation formula is as follows:

[0100] b3 = b2 + v1 * t

[0101] Where 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 test cycle length.

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

[0103] If so, then the phase angle of the first magnetic pole is determined to be abnormal;

[0104] If not, then the phase angle of the first magnetic pole is considered normal.

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

[0106] In some embodiments, before determining the second position information based on the third train speed, the cycle length of the test cycle, the third position information before receiving the train test command, and the first interpolation formula, the method further includes:

[0107] Determine whether the number of consecutive occurrences of an abnormal phase angle of the first magnetic pole exceeds a preset number;

[0108] If so, it is determined that there is a low-speed detection fault. The low-speed detection fault flag indicates 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, traction will implement a protective block when a low-speed detection fault is detected.

[0110] If the number of consecutive occurrences of abnormal first magnetic pole phase angle exceeds the preset number, that is, if the duration of abnormal data exceeds the preset time, it is highly likely that the testing system has malfunctioned. In this case, a corresponding fault prompt will be issued to improve the reliability of the speed measurement and positioning results.

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

[0112] Determine whether the speed of the third train before receiving the train test command is less than the preset lower speed limit;

[0113] If the speed of the third train is less than the lower speed limit, then the second position information and the speed of the second train will be used as the current position information and current speed of the maglev train.

[0114] If the speed of the third train is not less than the lower speed limit, determine whether the speed of the third train is less than the preset upper speed limit. If the upper speed limit is greater than the lower speed limit, the third train's speed is greater than the preset upper speed limit.

[0115] If the speed of the third train is not less than the preset speed limit, then the first position information and the speed of the first train will be used as the current position information and current speed of the maglev train.

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

[0117] If a low-speed detection fault exists, the first position information and the first train speed will be used as the current position information and current train speed of the maglev train.

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

[0119] Because determining the second position information and second train speed of the maglev train based on the first coded information sent by the wireless transmission device may affect the accuracy of the test due to problems such as wireless communication transmission delay when the maglev train speed is too high; and determining the first position information and 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 is difficult to accurately obtain the motor speed of the long stator synchronous linear motor when the maglev train speed is low. Therefore, an upper limit value and a lower limit value of speed are set.

[0120] In some embodiments, the ground control center further includes a back EMF detection system. This system can determine the motor speed and pole phase angle of the long stator synchronous linear motor within the long stator section where the maglev train is located. Before determining the first position information and first train speed of the maglev train based on the motor speed of the long stator synchronous linear motor within the long stator section, it is also necessary to determine whether the motor speed and pole phase angle are normal. Specifically, this can be done by determining that the motor speed is abnormal if it exceeds a preset normal range; by estimating the pole phase angle using interpolation, and determining that the pole phase angle is abnormal if the deviation from the estimated value is too large; or by detecting the deviation between the motor speed and the motor control command, and determining that the motor speed is abnormal if the deviation is too large; or by using other methods. This embodiment does not impose specific limitations on these methods.

[0121] If the number of consecutive occurrences of abnormal motor speed and / or magnetic pole phase angle exceeds the preset number, a high-speed detection fault is determined. The high-speed detection fault flag indicates a fault in the process of determining the first position information and 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 speed of the third train is greater than the lower speed limit but less than the upper speed limit, the system first checks for a low-speed detection fault. If no low-speed detection fault exists, the second position information and the second train speed are used as the current position information and current train speed of the maglev train. If a low-speed detection fault exists, the system checks for a high-speed detection fault. If no high-speed detection fault exists, the first position information and the first train speed are used as the current position information and current train speed of the maglev train. If a high-speed detection fault exists, the second position information and the second train speed are used as the current position information and 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 based on the motor speed of the long stator synchronous linear motor within the long stator section where the maglev train is located includes:

[0124] The first train speed of the maglev train is determined based on the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located.

[0125] Based on the second encoded information received before the second encoded information was received, the first absolute position of the positioning marker is determined;

[0126] Based on the first absolute position, the first train speed, and the relationship between the first position information, the first position information of the maglev train is determined. The relationship between the first position information is as follows:

[0127] S2=A1+∫Vdt

[0128] Where 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 within the long stator section where the maglev train is located. Generally, it uses a back EMF detection system at the ground control center. This system is connected to both the long stator synchronous linear motor and the motor control unit. It measures the frequency of the induced electromotive force (EMF) of the long stator synchronous linear motor within the long stator section through which the maglev train travels. The frequency of the induced EMF is proportional to the motor speed, thus determining the motor speed. It should be noted that the back EMF detection system generally includes a current sensor, but may also include a voltage sensor. The rotor position is estimated by real-time detection of the motor's stator current and voltage.

[0130] Since the long-stator synchronous linear motor directly serves as the power source for the maglev train, its speed is directly proportional to the train's speed. In some embodiments, the motor control unit at the ground control center calculates the maglev train's speed and magnetic pole phase angle based on the induced electromotive force (EMF) and sends this information to the processor at the ground control center. The processor then calculates the maglev train's first position information and first speed. Of course, the maglev train's speed and magnetic pole phase angle can also be calculated based on the induced EMF, or the calculation can be entirely performed by the processor at the ground control center. However, using the motor control unit for calculation alleviates the processor's computational burden and thus speeds up the calculation process.

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

[0132] The back EMF detection module 201 is used to determine 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 when a train test command is received. The train test command 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 based on the first encoded information sent by the wireless transmission device. The first encoded information is the encoded information obtained by the positioning test system when reading the positioning mark plate.

[0134] Speed ​​detection module 203 is used to determine whether the speed of the third train before receiving the train test command is greater than the preset speed limit value;

[0135] The first information determination module 204 is used to, if so, use the first position information and the first train speed as the current position information and current train speed of the maglev train;

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

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

[0138] The second absolute position determination module is used to determine the second absolute position of the positioning marker based on the first encoded 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 based on 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 command 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 as follows:

[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 through, 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 based on the second position information and the preset test cycle length.

[0143] In some embodiments, it also includes:

[0144] The magnetic pole phase angle determination module is used to determine whether the phase angle of the first magnetic pole is normal.

[0145] The magnetic pole phase angle normal module is used to, if so, proceed to the step of determining the second position information of the maglev train based on 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 command is received, the pole pitch of the long stator synchronous linear motor and the second position information relationship formula.

[0146] The magnetic pole phase angle anomaly module is used to determine the second position information, if not, based on the third train speed, the test cycle length, the third position information before receiving the train test command, and the first interpolation formula. The first interpolation formula is:

[0147] S1 = S3 + v1*t

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

[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 based on the second magnetic pole phase angle before receiving the train test command, the third train speed, the test cycle length, and the second interpolation formula. The second interpolation formula is as follows:

[0151] b3 = b2 + v1 * t

[0152] Where 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 test cycle length.

[0153] The magnetic pole phase angle threshold module is used to determine whether 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.

[0154] The normality determination module is used to determine if the first magnetic pole phase angle is abnormal if the condition is met.

[0155] The anomaly detection module is used to determine that the phase angle of the first magnetic pole is normal if the anomaly is not found.

[0156] In some embodiments, it also includes:

[0157] The preset number detection module is used to determine whether the number of consecutive occurrences of an abnormal phase angle of the first magnetic pole is greater than the preset number.

[0158] The fault determination module is used to determine if a low-speed detection fault exists. The low-speed detection fault flag indicates a fault in the process of determining the second position information and the second train speed of the maglev train based on the first encoded information sent by the wireless transmission device.

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

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

[0161] The third information determination module is used to use the second position information and the second train speed as the current position information and current train speed of the maglev train if the speed of the third train is less than the lower speed limit.

[0162] The speed limit detection module is used to determine whether the speed of the third train is less than the preset speed limit if the speed of the third train is not less than the speed limit. The speed limit is greater than the speed limit.

[0163] The fourth information determination module is used to determine the first position information and the first train speed as the current position information and current train speed of the maglev train if the speed of the third train is not less than the preset speed limit value.

[0164] The low-speed fault detection module is used to determine whether a low-speed detection fault exists if the speed of the third train is less than the preset speed limit.

[0165] The fifth information determination module is used to use the first position information and the first train speed as the current position information and current train speed of the maglev train if a low-speed detection fault exists.

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

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

[0168] The motor speed determination module is used to determine 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.

[0169] The first absolute position determination module is used to determine the first absolute position of the positioning marker based on the second encoded information received before the second encoded information is received.

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

[0171] S2=A1+∫Vdt

[0172] Where 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 a description of the speed measurement and positioning device for a maglev train provided in this application, please refer to the above embodiments, which will not be repeated here.

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

[0175] Memory 302 is used to store computer programs;

[0176] The processor 303 is connected to the positioning test system 305 installed on the maglev train via a wireless transmission device 304. The processor is also connected to the long stator synchronous linear motor of the maglev train and is used to execute computer programs to implement the steps of the speed measurement and positioning method of the maglev train as described above.

[0177] For a description of the ground control center 301 provided in this application, please refer to the above embodiments, which will not be repeated here.

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

[0179] For a description of the computer-readable storage medium provided in this application, please refer to the above embodiments, which will not be repeated here.

[0180] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0181] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0182] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

Claims

1. A speed measurement and positioning method for a maglev train, characterized in that, A processor used in a ground control center is connected to a positioning test system installed on the maglev train via a wireless transmission device, and the processor is also connected to the long stator synchronous linear motor of the maglev train. The speed measurement and positioning method includes: When a train test command is received, 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, and the train test command is issued according to a preset test cycle. The second position information and the second speed of the maglev train are determined based on the first encoded information sent by the wireless transmission device. The first encoded information is the encoded information obtained by the positioning test system when reading the positioning mark plate. Determine whether the speed of the third train before receiving the train test command is greater than a preset speed limit value; If so, the first position information and the first train speed are used as the current position information and current train speed of the maglev train; If not, then the second position information and the second train speed shall be used as the current position information and current train speed of the maglev train; The determination of whether the speed of the third train before receiving the train test command is greater than a preset speed limit includes: Determine whether the speed of the third train before receiving the train test command is less than a preset lower speed limit; If the speed of the third train is less than the lower speed limit, then the second position information and the second train speed are used as the current position information and current train speed of the maglev train. If the speed of the third train is not less than the lower speed limit, determine whether the speed of the third train is less than the preset upper speed limit, wherein the upper speed limit is greater than the lower speed limit; If the speed of the third train is not less than the preset speed limit, then the first position information and the first train speed are used as the current position information and current train speed of the maglev train. If the speed of the third train is less than the preset speed limit, it is determined whether there is a low-speed detection fault. If the low-speed detection fault exists, the first position information and the first train speed shall be used as the current position information and current train speed of the maglev train. If the low-speed detection fault does not exist, the second position information and the second train speed are used as the current position information and current train speed of the maglev train. After determining whether a low-speed detection fault exists, the following steps are also included: If the low-speed detection fault exists, then determine if a high-speed detection fault exists; If the high-speed detection fault does not exist, the first position information and the first train speed are used as the current position information and current train speed of the maglev train. If the high-speed detection fault exists, the second position information and the second train speed will be used as the current position information and current train speed of the maglev train. Determining the second position information and second speed of the maglev train based on the first coded information sent by the wireless transmission device includes: The second absolute position of the positioning marker is determined based on the first encoded information sent by the wireless transmission device. Determine if the phase angle of the first magnetic pole is normal; If the first magnetic pole phase angle is normal, then the second position information of the maglev train is determined based on 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 command is received, the pole pitch of the long stator synchronous linear motor, and the relationship between the second position information. The second position information relationship is as follows: ； in, This refers to the second position information of the maglev train. The second absolute position is denoted by 'a', where '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. If the first magnetic pole phase angle is abnormal, the second position information is determined based on the third train speed, the period length of the test cycle, the third position information before receiving the train test command, and the first interpolation formula. The first interpolation formula is: ； in, This is the second location information. The third location information, The speed of the third train is t, and the length of the test cycle is t. The second train speed of the maglev train is determined based on the second position information and the preset test cycle length.

2. The speed measurement and positioning method for maglev trains as described in claim 1, characterized in that, Determining whether the phase angle of the first magnetic pole is normal includes: Based on the second magnetic pole phase angle before receiving the train test command, the third train speed, the period length of the test cycle, and the second interpolation formula, the third magnetic pole phase angle is determined. The second interpolation formula is as follows: ； in, The phase angle of the third magnetic pole. The phase angle of the second magnetic pole. The speed of the third train is t, and the length of the test cycle is t. 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; If so, then the phase angle of the first magnetic pole is determined to be abnormal; If not, then the phase angle of the first magnetic pole is determined to be normal.

3. The speed measurement and positioning method for maglev trains as described in claim 2, characterized in that, Before determining the second position information based on the third train speed, the cycle length of the test cycle, the third position information before receiving the train test command, and the first interpolation formula, the method further includes: Determine whether the number of consecutive occurrences of the abnormal phase angle of the first magnetic pole is greater than a preset number; If so, it is determined that there is a low-speed detection fault. The low-speed detection fault flag indicates a fault in the process of determining the second position information and the second train speed of the maglev train based on the first encoded information sent by the wireless transmission device.

4. The speed measurement and positioning method for a maglev train as described in any one of claims 1 to 3, characterized in that, Based on the motor speed of the long stator synchronous linear motor within the long stator section where the maglev train is located, the first position information and the first train speed of the maglev train are determined, including: The first train speed of the maglev train is determined based on the motor speed of the long stator synchronous linear motor in the long stator section where the maglev train is located. The first absolute position of the positioning marker is determined based on the second encoding information received before the first encoding information is received; Based on the first absolute position, the first train speed, and the first position information relationship, the first position information relationship of the maglev train is determined, wherein the first position information relationship is: ； in, This refers to the first position information of the maglev train. V represents the first absolute position, and V represents the first train speed.

5. A speed measuring and positioning device for a maglev train, characterized in that, A processor used in a ground control center is connected to a positioning test system installed on the maglev train via a wireless transmission device, and the processor is also connected to the long stator synchronous linear motor of the maglev train. The speed measurement and positioning device includes: The back EMF detection module is used to determine 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 when a train test command is received. The train test command is issued according to a preset test cycle. The positioning plate detection module is used to determine the second position information and the second train speed of the maglev train based on the first encoded information sent by the wireless transmission device. The first encoded information is the encoded information obtained by the positioning test system when reading the positioning mark plate. The speed detection module is used to determine whether the speed of the third train before receiving the train test command is greater than the preset speed limit value; The first information determination module is used to, if so, take the first position information and the first train speed as the current position information and current train speed of the maglev train. The second information determination module is used to, if not, take the second position information and the second train speed as the current position information and current train speed of the maglev train; Specifically, the speed detection module is used to determine whether the speed of the third train before receiving the train test command is less than a preset lower speed limit. If the speed of the third train is less than the lower speed limit, the second position information and the second train speed are used as the current position information and current speed of the maglev train. If the speed of the third train is not less than the lower speed limit, it is determined whether the speed of the third train is less than a preset upper speed limit, where the upper speed limit is greater than the lower speed limit. If the speed of the third train is not less than the preset upper speed limit, the first position information and the first train speed are used as the current position information and current speed of the maglev train. If the speed of the third train is less than the preset upper speed limit, it is determined whether a low-speed detection fault exists. If a low-speed detection fault exists, the first position information and the first train speed are used as the current position information and current speed of the maglev train. If a low-speed detection fault does not exist, the second position information and the second train speed are used as the current position information and current speed of the maglev train. The speed measurement and positioning device for the maglev train also includes: If the low-speed detection fault exists, then determine if the high-speed detection fault exists; if the high-speed detection fault does not exist, then use the first position information and the first train speed as the current position information and current train speed of the maglev train; if the high-speed detection fault exists, then use the second position information and the second train speed as the current position information and current train speed of the maglev train. The positioning plate detection module is specifically used to determine the second absolute position of the positioning marker plate based on the first encoded information sent by the wireless transmission device; determine whether the first magnetic pole phase angle is normal; if the first magnetic pole phase angle is normal, then based on 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 command 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: ;in, This refers to the second position information of the maglev train. Here, 'a' represents the second absolute position, 'b' represents the first pole phase angle of the long stator synchronous linear motor passed by the maglev train, and 'L' represents the pole pitch of the long stator synchronous linear motor. If the first pole phase angle is abnormal, the second position information is determined based on the third train speed, the cycle length of the test cycle, the third position information before receiving the train test command, and the first interpolation formula. The first interpolation formula is: ;in, This is the second location information. The third location information, The third train speed is t, and the test cycle length is t; the second train speed of the maglev train is determined based on the second position information and the preset test cycle length.

6. A ground control center, characterized in that, include: Memory, used to store computer programs; The processor is connected to a positioning test system installed on the maglev train via a wireless transmission device. The processor is also connected to the long stator synchronous linear motor of the maglev train. When executing the computer program, the processor implements the steps of the speed measurement and positioning method for the maglev train as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the speed measurement and positioning method for a maglev train as described in any one of claims 1 to 4.

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