System for reducing magnetic suspension track error by utilizing mechanical holder to prevent shake

Abstract

The invention provides a system for reducing errors of a magnetic suspension track by using a mechanical cradle head for preventing shake, and belongs to the technical field of mechanical cradle head shake prevention and the technical field of magnetic suspension track traffic. The motion state of the small rail car is detected through the mechanical holder anti-shake inertial sensor, information is transmitted to the control circuit and the motor, the control circuit controls the rotating speed and the direction of the motor according to signals of the inertial sensor, and the motor controls the small rail car according to the signals of the inertial sensor. Therefore, the shaking of the rail trolley during operation caused by errors generated during rail welding is reduced through the mechanical anti-shaking pan-tilt. By adding the mechanical anti-shake pan-tilt, the current magnetic suspension technical problem that the rail trolley shakes during operation due to the fact that ideal errors are difficult to achieve in the rail welding process is solved, and the stability and controllability of a magnetic suspension rail traffic system are improved.

Description

Technical Field

[0001] The invention relates to the technical fields of mechanical pan-tilt anti-shake and magnetic levitation rail transit, and in particular to a system that utilizes mechanical pan-tilt anti-shake technology to reduce the shaking of a rail trolley during operation caused by errors generated during rail welding. Background Art

[0002] In the maglev transportation technology, whether the maglev track can meet the national application standards will determine the normal operation of the rail car. The common connection method of the larger maglev track in China is welding. At present, the domestic requirement for the welding error of the maglev track is less than or equal to 2 mm. However, in the actual engineering welding process, it is difficult to truly achieve the national standard level of maglev track welding error. Therefore, in the actual engineering experiment, the rail car inevitably vibrates, which has a great impact on the safety and comfort of the entire maglev rail transportation system.

[0003] Patent CN117901910A provides a maglev track inspection system, which detects the track through an inspection vehicle and an inspection station. The inspection vehicle has a detection device and is a non-manned vehicle body used to detect the track, solving the problem of vibration detection between the maglev train and the track; Patent CN1603188A provides a method for arranging sensors for automatic detection of maglev tracks, which uses 26 displacement sensors, 2 trigger sensors and a concave measuring frame to perform multi-point data collection and detection on the track shape; Patent CN114413798B provides a superconducting electric maglev track unevenness detection device and method, which obtains position deviation processing by using a two-system suspension structure for the detection trolley and the power trolley to grasp the actual situation of track unevenness.

[0004] However, the above-mentioned detection of the track is all judged by collecting data, and there is no good connection between the data and the track car, and it cannot be fed back to the car body in time to self-adjust to cope with the motion characteristics when the track is uneven. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a system for reducing the error of a magnetic levitation track by utilizing a mechanical pan-tilt anti-shake technology. The present invention can reduce the shaking of a track trolley during driving by utilizing the mechanical pan-tilt anti-shake technology, thereby ensuring that the track trolley enters a curve smoothly on the track and enables the track trolley to turn smoothly.

[0006] The present invention adopts the following technical solutions to solve the above problems:

[0007] A system for reducing the error of a magnetic suspension track by using a mechanical pan-tilt anti-shake system, the system is a closed-loop system installed on a track trolley and capable of realizing automatic adjustment and self-correction, the system comprises an adjustment system, a power module, a signal detection module and a signal feedback module, the signal detection module detects the motion state of the track trolley and transmits the signal to the adjustment system, the adjustment system controls the rotation speed and direction of the power module according to the signal of the signal detection module, and the signal of the signal detection module is collected by a pan-tilt anti-shake device and a gyroscope.

[0008] Furthermore, the signals in the signal detection module include but are not limited to horizontal vibration signals, vertical vibration signals and deflection angle signals, and the power module includes a motor and a control circuit.

[0009] Furthermore, the specific steps of the system are as follows:

[0010] S1: The rail trolley initially runs at a certain speed until the speed reaches the required speed;

[0011] S2: The power module records the motor power and speed of each part;

[0012] S3: The signal detection module detects the vehicle body, including horizontal vibration signals, vertical vibration signals and deflection angle signals;

[0013] S4: Setting the error threshold, the signal feedback module calculates and detects the feedback signal and feeds it back to the motor in S2, determines whether the error is greater than the threshold, and repeats steps S1-S3, ultimately making the error less than the required error and maintaining a stable output.

[0014] S5: When there is external interference or the error is too large, continue the S1-S4 steps and continuously perform feedback adjustment.

[0015] Furthermore, an inertial sensor is provided inside the pan / tilt anti-shake device, and the inertial sensor detects the motion state of the rail trolley and transmits horizontal vibration signals and vertical vibration signals to the control circuit and the motor.

[0016] Furthermore, the gyroscope is used to detect the deflection angle signal and transmit it to the control circuit and the motor.

[0017] Furthermore, a vertical anti-shake device and a horizontal anti-shake device are provided inside the gimbal anti-shake device, and patch pressure sensors are attached to the ends of the vertical anti-shake device and the horizontal anti-shake device. An active component is provided between the inertial sensor and the bracket below it and the outer casing of the gimbal anti-shake device.

[0018] Furthermore, the pan / tilt anti-shake device is arranged at the front and rear ends of the roof of the rail trolley, and the gyroscope is arranged in the middle of the roof of the rail trolley.

[0019] Furthermore, the system is adjusted by the feedback signal to meet the vibration stability requirements, and can achieve automatic adjustment and self-correction capabilities.

[0020] Compared with the prior art, the beneficial effects of this application are:

[0021] 1. It can improve the stability of the rail trolley, reduce the vibration of the rail trolley, make the rail trolley safer, and make passengers feel more comfortable. The stable operation of the mechanical system can reduce unnecessary shock and vibration, thereby reducing the wear and damage of mechanical parts and extending the service life of the equipment;

[0022] 2. Compared with a fixed track operation system, a system that uses mechanical gimbal anti-shake to reduce the error of the magnetic suspension track is a closed-loop system. The closed-loop control system can achieve automatic adjustment and self-correction capabilities, allowing the system to maintain stability and accuracy under different working conditions. This can improve the response speed and accuracy of the system;

[0023] 3. The vibration of the rail car can be monitored in real time. Through real-time monitoring and feedback adjustment, the closed-loop control system can promptly detect equipment failures or abnormal conditions, and take appropriate measures in time to avoid equipment damage or personal injury. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the description of the specific embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a simplified diagram of the mechanical gimbal anti-shake principle;

[0026] Figure 2 Diagram of the location of the pan / tilt and gyroscope for the rail trolley;

[0027] Figure 3 System adjustment diagram for reducing magnetic suspension track error for mechanical gimbal anti-shake;

[0028] Figure 4 A detailed diagram of the system for reducing the error of the magnetic levitation track for mechanical gimbal anti-shake.

[0029] In the figure, 1 is a track car; 2 is a pan-tilt anti-shake device; 201 is an inertial sensor; 202 is a patch pressure sensor; 203 is a vertical anti-shake device; 204 is a horizontal anti-shake device; 205 is a movable component; 3 is a gyroscope. DETAILED DESCRIPTION

[0030] In the description of the present invention, unless otherwise specified, the terms "upper", "lower", "top", "bottom", "vertical" and the like indicate orientations or state relationships based on the orientations or state relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] like Figure 1-Figure 4 As shown, the present application provides a system for reducing the error of a magnetic levitation track by using a mechanical gimbal to stabilize the vibration. The system is adjusted by a feedback signal to meet the vibration stability requirements, and can achieve automatic adjustment and self-correction capabilities.

[0034] The system is a closed-loop system installed on the rail trolley 1 that can realize automatic adjustment and self-correction capabilities. The system includes an adjustment system, a power module, a signal detection module and a signal feedback module. The signal detection module detects the movement state of the rail trolley 1 and transmits the signal to the adjustment system. The adjustment system controls the speed and direction of the power module according to the signal of the signal detection module. The signal in the signal detection module includes but is not limited to horizontal vibration signals, vertical vibration signals and deflection angle signals. The power module includes a motor and a control circuit.

[0035] The signal of the signal detection module is collected by the pan-tilt anti-shake device 2 and the gyroscope 3. The pan-tilt anti-shake device 2 is arranged at the front and rear ends of the roof of the rail trolley 1, and the gyroscope 3 is arranged in the middle of the roof of the rail trolley 1. The pan-tilt anti-shake device 2 is provided with an inertial sensor 201, which detects the motion state of the rail trolley and transmits the horizontal vibration signal and the vertical vibration signal to the control circuit and the motor; the gyroscope 3 is used to detect the deflection angle signal and transmit it to the control circuit and the motor.

[0036] A vertical anti-shake device 203 and a horizontal anti-shake device 204 are provided inside the gimbal anti-shake device 2. The ends of the vertical anti-shake device 203 and the horizontal anti-shake device 204 are provided with patch-type pressure sensors 202. An active component 205 is provided between the inertial sensor 201 and the bracket below it and the outer shell of the gimbal anti-shake device 2 to facilitate adjustment of internal components in the vertical anti-shake device 203 and the horizontal anti-shake device 204.

[0037] like Figure 2 As shown, a pan-tilt anti-shake device 2 is installed on the top of the track trolley 1. In this embodiment, a mechanical pan-tilt anti-shake device is used, and is located at the front and rear ends of the track trolley 1, respectively. A gyroscope 3 is placed in the middle of the track trolley 1; Figure 1 As shown, the inertia generated by the pan-tilt anti-shake device 2 during the operation of the rail trolley 1 will keep the center of the pan-tilt anti-shake device 2 stationary, and the relative vertical anti-shake device 203 and horizontal anti-shake device 204 will produce compression deformation to act on the patch pressure sensor 202, generating horizontal vibration and vertical vibration, and the vibration signal acts on Figure 3 The system adjustment diagram of the mechanical pan-tilt anti-shake to reduce the error of the magnetic levitation track is shown. Through the adjustment and control of the internal system, the movement state of the track trolley and the information are transmitted to the control circuit and the motor. The control circuit controls the speed and direction of the motor according to the signal of the inertial sensor, and the motor controls the track trolley according to the signal of the inertial sensor, thereby reducing the jitter of the track trolley during operation caused by the error generated during track welding, making the stability of the track trolley more enhanced.

[0038] The operation process of this system is as follows:

[0039] S1: The rail trolley initially runs at a certain speed until the speed reaches the required speed;

[0040] In this embodiment, the rail car follows an initial speed of 0.4-0.8 m / s. 2 The train starts running at an accelerated speed and runs until the speed reaches 40-60 km / h. During normal operation of the train, its rated suspension height is about (15-30 mm).

[0041] S2: The power module records the motor power and speed of each part;

[0042] In this embodiment, the power module records the motor power 80kw and the running speed, and calculates the corresponding torque of the motor according to the motor power calculation formula P=T*N 9549.

[0043] S3: The signal detection module detects the vehicle body, including horizontal vibration signals, vertical vibration signals and deflection angle signals;

[0044] In this embodiment, the signal detection module detects the vehicle body, and the test sampling frequency is 200-400Hz; when the object vibrates, the generated piezoelectric signal is converted into a voltage output, and the time domain signal is converted into a frequency domain signal using Fourier transform; Fourier transform converts the signal from the time domain representation to the frequency domain representation, and displays the components of the signal at different frequencies. The Fourier transform formula is as follows:

[0045]

[0046] Where: X(f) is the frequency domain representation, x(t) is the time domain signal, and f is the frequency.

[0047] S4: Set the error threshold. The signal feedback module calculates and detects the feedback signal and feeds it back to the motor in S2 to determine whether the error is greater than the threshold. Repeat steps S1-S3 to eventually make the error less than the required error and maintain a stable output.

[0048] In this embodiment, the error threshold is set so that the vibration error in the horizontal and vertical directions is controlled within 2-4mm. The signal feedback module calculates and detects the feedback signal and feeds it back to the motor in S2 to determine whether the error is greater than the threshold. The motor is reduced to drive the transmission wheel to rotate, and the horizontal and vertical limit bolts are used to realize the limit function; repeat the steps of S1-S3, and finally make the error less than the required error to maintain a stable output.

[0049] S5: When there is external interference or the error is too large, continue the S1-S4 steps and continuously perform feedback adjustment.

[0050] The present invention is described in detail above through the embodiments, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made according to the scope of application of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake, characterized in that: The system is a closed-loop system installed on a rail trolley (1) and capable of realizing automatic adjustment and self-correction capabilities. The system comprises an adjustment system, a power module, a signal detection module and a signal feedback module. The signal detection module detects the motion state of the rail trolley (1) and transmits the signal to the adjustment system. The adjustment system controls the rotation speed and direction of the power module according to the signal of the signal detection module. The signal of the signal detection module is collected by a pan / tilt anti-shake device (2) and a gyroscope (3).

2. A system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to claim 1, characterized in that: The signals in the signal detection module include but are not limited to horizontal vibration signals, vertical vibration signals and deflection angle signals, and the power module includes a motor and a control circuit.

3. The system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to claim 2, characterized in that: The specific steps of the system are as follows: S1: The rail trolley (1) initially runs at a certain speed until the speed reaches the required speed; S2: The power module records the motor power and speed of each part; S3: The signal detection module detects the vehicle body, including horizontal vibration signals, vertical vibration signals and deflection angle signals; S4: Setting the error threshold, the signal feedback module calculates and detects the feedback signal and feeds it back to the motor in S2, determines whether the error is greater than the threshold, and repeats steps S1-S3, ultimately making the error less than the required error and maintaining a stable output. S5: When there is external interference or the error is too large, continue the S1-S4 steps and continuously perform feedback adjustment.

4. A system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to claim 2 or 3, characterized in that: An inertial sensor (201) is arranged inside the pan / tilt anti-shake device (2), and the inertial sensor (201) detects the motion state of the track vehicle and transmits a horizontal vibration signal and a vertical vibration signal to the control circuit and the motor.

5. A system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to claim 2 or 3, characterized in that: The gyroscope (3) is used to detect the deflection angle signal and transmit it to the control circuit and the motor.

6. The system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to claim 4, characterized in that: The pan-tilt anti-shake device (2) is provided with a vertical anti-shake device (203) and a horizontal anti-shake device (204) inside, and the ends of the vertical anti-shake device (203) and the horizontal anti-shake device (204) are provided with patch-type pressure sensors (202), and a movable component (205) is provided between the inertial sensor (201) and the bracket below it and the outer shell of the pan-tilt anti-shake device (2).

7. A system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to any one of claims 1 to 6, characterized in that: The pan / tilt anti-shake device (2) is arranged at the front and rear ends of the roof of the rail trolley (1), and the gyroscope (3) is arranged in the middle of the roof of the rail trolley (1).

8. A system for reducing magnetic suspension track error by using mechanical pan / tilt anti-shake according to any one of claims 1 to 6, characterized in that: The system is adjusted by the feedback signal to meet the vibration stability requirements, and can achieve automatic adjustment and self-correction capabilities.

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