Non-contact operation magnetic levitation transportation system and control method thereof

Abstract

The invention relates to a non-contact operation magnetic levitation transportation system and a control method thereof. The system comprises a guiding device, a suspension device and a traction device, in the guiding device, a gap sensor is used for collecting gap signals, two sides of a steel rail are respectively provided with a guiding electromagnet, and the magnitude of coil current in the guiding electromagnets is adjusted through a controller, so that guiding control is realized. The two sides of a steel rail in the suspension device are each provided with a suspension magnet, the suspension magnets and the head of the steel rail form a closed magnetic circuit, the closed magnetic circuit is in a stable state with the minimum total magnetic resistance, and non-contact suspension is achieved. The traction device is a linear motor, the linear motor is composed of a linear motor stator and an induction plate, a traveling wave magnetic field is generated after the linear motor is powered on, and non-contact traction is achieved. Compared with the prior art, the compatibility of the magnetic suspension system and the existing railway steel rail is realized, the application range of the magnetic suspension system is expanded, and the reliability and the stability of complete non-contact operation are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transportation, and in particular to a contactless magnetic levitation transportation system and a control method thereof. Background Art

[0002] In the field of rail transit, maglev systems have been widely used around the world due to their advantages such as non-contact and low noise. Existing maglev systems are mainly based on electromagnetic suspension. Taking the commonly used medium and low-speed normal-conducting electromagnetic suspension system as an example, the train is arranged in a track-holding form, and the suspension and guidance are achieved through the electromagnetic attraction between the suspension electromagnets installed on the suspension frame and the F-shaped track. The traction is achieved by the linear motor composed of the induction plate and the short stator coil installed above the track. This technical solution requires the additional construction of a dedicated F-shaped track, which is not compatible with the existing steel wheel-rail system track, resulting in an increase in the system construction cost and limiting the scope of application of the maglev system. Therefore, how to reasonably utilize the existing railway network and further reduce the line construction cost of the maglev system is an important issue facing maglev transportation technology.

[0003] In order to solve the above problems, some magnetic levitation systems based on rails or similar structures have emerged to achieve suspension and guidance. However, the suspension and guidance of the relevant technical solutions are all achieved by permanent magnets, and active control cannot be achieved. The stability and anti-interference ability of the system are poor. On the other hand, the traction and guidance functions involved in the relevant technical solutions still rely on the contact relationship between the wheels and the rails, and it is impossible to achieve completely contactless operation of the system.

[0004] In summary, the mainstream electromagnetic suspension technology requires the construction of additional dedicated tracks and is not compatible with existing railway rails. The rail suspension based on permanent magnetic suspension cannot achieve stable active control and requires additional wheel structures for traction and guidance, which limits its scope of application.

[0005] For example, the invention patent with publication number CN1990299A discloses a linear induction motor traction carrier, which uses a single-sided short primary linear induction motor to provide the power for suspension / unloading and traction; the device relies on the attraction between the primary and secondary iron yokes to achieve static suspension of the vehicle body or reduce the pressure of the supporting wheels on the track; and relies on the normal force of the electromagnetic attraction between the primary current and the secondary to float the vehicle body, thereby achieving the suspension and traction of the carrier body. However, the device only uses guide auxiliary wheels for guidance, and cannot achieve stable active control. Summary of the invention

[0006] The purpose of the present invention is to provide a non-contact magnetic levitation transportation system and a control method thereof in order to overcome the defects of the prior art.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] According to one aspect of the present invention, there is provided a contactless magnetic levitation transportation system, which is composed of a guide device, a suspension device, a traction device, a rail 6, a frame 3 and a support wheel 4;

[0009] The frame 3 is suspended and connected to the carrier 10, and the support wheels 4 are arranged on both sides of the frame 3;

[0010] The guide device is fixed to the front and rear ends of the frame 3, and includes a guide electromagnet 5, a transverse stopper 7 and an iron yoke 8. A guide electromagnet 5 is provided on each side of the rail 6, and a coil is wound on it. The guide electromagnet 5 is provided with an iron yoke 8 above and below, and the iron yoke 8 is fixedly connected to the frame 3. The guide device is also provided with a controller and a gap sensor.

[0011] The suspension device is fixed to the middle of the frame 3, and includes a suspension magnet 9 and a skirt board 11. A suspension magnet 9 is arranged on each side of the rail 6, and the two suspension magnets 9 are fixedly connected by the skirt board 11.

[0012] The traction device is a linear motor fixed to the lower part of the frame 3.

[0013] As a preferred technical solution, the iron yoke 8 includes an upper iron yoke and a lower iron yoke, wherein a transverse stopper 7 is provided at one end of the upper iron yoke close to the rail 6, and the transverse stopper 7 is made of magnetic conductive material.

[0014] As a preferred technical solution, the suspension magnet 9 includes an electromagnet, a permanent magnet or a hybrid magnet.

[0015] As a preferred technical solution, the linear motor includes a linear motor stator 1 and an induction plate 2, wherein the induction plate 2 is installed on the ground and fixed on the central axis of two rails 6, the linear motor stator 1 is vertically aligned with the induction plate 2, and a preset air gap is maintained between the two.

[0016] As a preferred technical solution, the linear motor is a short-stator linear motor.

[0017] As a preferred technical solution, the positional relationship between the frame 3 and the carrier 10 includes: a ground form and a hanging mode, wherein the ground form is that the frame 3 is below the carrier 10, and the hanging form is that the frame 3 is above the carrier 10.

[0018] According to another aspect of the present invention, a method for controlling a non-contact maglev transportation system is provided. The method is applied to a non-contact maglev transportation system as described above. The method includes a guidance control process, a suspension process and a traction control process.

[0019] The guiding control process is as follows: first, the gap sensor collects the gap signal between the guiding electromagnet 5 and the rail 6. When the gap signals on both sides are inconsistent, the controller uses the feedback control algorithm to adjust the coil current in the guiding electromagnet 5 to achieve guiding control;

[0020] The suspension process is as follows: the suspension magnet 9 and the head of the rail 6 form a closed magnetic circuit, and the closed magnetic circuit is in a stable state with the minimum total magnetic resistance, thereby achieving contactless suspension;

[0021] The traction control process is: controlling the linear motor to generate an alternating magnetic field, driving the system to move along the track direction, and realizing non-contact traction.

[0022] As a preferred technical solution, the specific formula of the feedback control algorithm is:

[0023]

[0024] Where i0 is the coil current when the system is in stable condition, i1 and i2 are the currents of the left coil and the right coil, c1 and c2 are the transverse air gaps between the left coil and the right coil and the rail 6 surfaces respectively; K1, K2, K3 are feedback control coefficients; and is the differential of the lateral air gap.

[0025] As a preferred technical solution, during the suspension process, when the system is disturbed by a vertical load, the relative position of the suspension magnet 9 and the head of the rail 6 changes accordingly, and the magnetic resistance of the closed magnetic circuit increases, causing the system to generate a vertical component force, thereby generating a movement trend to return to a stable state, thereby achieving stable contactless suspension without the need for additional control.

[0026] As a preferred technical solution, the specific process of controlling the linear motor to generate an alternating magnetic field during traction control is: first, the linear motor stator 1 is controlled to maintain a preset vertical distance with the induction plate 2, and then the linear motor stator 1 is energized, and an alternating magnetic field is generated by controlling the current of the linear motor stator 1 coil.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. In a non-contact magnetic levitation transportation system of the present invention, in the guide device of the system, a guide electromagnet 5 is provided on each side of the rail 6, and an iron yoke 8 is provided on the upper and lower sides of the guide electromagnet 5. The guide device is also provided with a controller and a gap sensor. The suspension device in the system includes a suspension magnet 9 and a skirt plate 11. A suspension magnet 9 is provided on each side of the rail 6. The traction device is a linear motor, which is composed of a linear motor stator 1 and an induction plate 2. After power is turned on, a traveling wave magnetic field is generated to realize the non-contact traction function of the system. The system applies the magnetic levitation system to the currently existing ordinary rails, realizes the compatibility of the magnetic levitation system with the existing railway rails, and greatly improves the adaptability of the magnetic levitation system.

[0029] 2. A control method for a non-contact maglev transportation system of the present invention includes a guide control process, a suspension process and a traction control process; the guide control process is: first, the gap sensor collects the gap signal between the guide electromagnet 5 and the rail 6. When the gap signals on both sides are inconsistent, the controller uses a feedback control algorithm to adjust the coil current in the guide electromagnet 5 to achieve guide control; the suspension process is: the suspension magnet 9 and the head of the rail 6 form a closed magnetic circuit, and the closed magnetic circuit is in a stable state with the minimum total magnetic resistance to achieve non-contact suspension; the traction control process is: control the linear motor to generate an alternating magnetic field, drive the system to move along the track direction, and achieve non-contact traction. This method relies on electromagnetic suspension technology to achieve stable active control and enhance the reliability and stability of the vehicle's completely non-contact operation.

[0030] 3. In a non-contact maglev transportation system of the present invention, the iron yoke 8 includes an upper iron yoke and a lower iron yoke, wherein a transverse stopper 7 is provided at one end of the upper iron yoke close to the rail 6, and the transverse stopper 7 is made of a magnetic conductive material. The transverse stopper 7 can prevent the electromagnet from being sucked to death, making the system safer.

[0031] 4. In a non-contact magnetic levitation transportation system of the present invention, the positional relationship between the frame 3 and the carrier 10 includes: a ground form and a hanging form. The ground form is that the frame 3 is below the carrier 10, and the hanging form is that the frame 3 is above the carrier 10, so that the system has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a front view of the structure of the magnetic levitation transportation system in the present invention;

[0033] Figure 2 It is a cross-sectional view of the entire device projected in the direction of the arrow from the cutting line A of the main view of the magnetic levitation transportation system structure of the present invention;

[0034] Figure 3 It is a schematic diagram of the traction device in the present invention;

[0035] Figure 4 It is a cross-sectional view of the entire device projected in the direction of the arrow from the section line B of the main view of the magnetic levitation transportation system structure of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the guide device in the present invention;

[0037] Figure 6 It is a flow chart of the guidance control process in the control method of the magnetic levitation transportation system in the present invention;

[0038] Figure 7 It is a schematic diagram of the structure of the carrier 10 connected to the ground in the embodiment;

[0039] Figure 8 It is a schematic diagram of the structure in which the carrier 10 is connected in a hanging form in the embodiment;

[0040] In the figure, 1 is the stator of the linear motor, 2 is the induction plate, 3 is the frame, 4 is the support wheel, 5 is the guide electromagnet, 6 is the rail, 7 is the lateral stopper, 8 is the iron yoke, 9 is the suspension magnet, 10 is the carrier, and 11 is the skirt. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0042] In the field of rail transportation, maglev systems have been widely used around the world due to their advantages such as non-contact and low noise. Existing maglev systems are mainly based on electromagnetic suspension. How to reasonably utilize the existing railway network and further reduce the line construction cost of the maglev system is an important issue facing maglev transportation technology.

[0043] In order to solve the above problems, some magnetic levitation systems based on rails or similar structures have emerged to achieve suspension and guidance. However, the suspension and guidance of the relevant technical solutions are all achieved by permanent magnets, and active control cannot be achieved. The stability and anti-interference ability of the system are poor. On the other hand, the traction and guidance functions involved in the relevant technical solutions still rely on the contact relationship between the wheels and the rails, and it is impossible to achieve completely contactless operation of the system.

[0044] In summary, the mainstream electromagnetic suspension technology requires the construction of additional dedicated tracks and is not compatible with existing railway rails; the rail suspension based on permanent magnetic suspension cannot achieve stable active control and requires additional wheel structures for traction and guidance, which restricts its application scope. Therefore, how to achieve completely non-contact operation of vehicles based on electromagnetic suspension technology on the basis of reasonable application of existing railway rails has become a major technical problem that needs to be solved in this technical field.

[0045] Example 1

[0046] In this example, a magnetic levitation transportation system is used to realize non-contact operation through the steel rails of an existing railway. The structure of the system is as follows: Figure 1 , Figure 2 and Figure 4 As shown, Figure 1 This is the front view of the structure of the maglev transportation system; Figure 2 It is a cross-sectional view of the whole device projected in the direction of the arrow from the imaginary section line A of the main view; Figure 4 It is a sectional view projected from the imaginary section line B in the direction of the arrow.

[0047] The system consists of a guide device, a suspension device, a traction device, a rail 6, a frame 3 and a support wheel 4;

[0048] Among them, the frame 3 is suspended and connected with the carrier 10, and support wheels 4 are provided on both sides of the frame 3; the support wheels 4, the suspension device, the guide device, and the linear motor are installed on the frame 3; the rails 6 are installed on the ground, and the induction plate 2 is installed at the central axis of the two rails 6.

[0049] The rails 6 are installed on the ground and are the running tracks of the system. In this embodiment, they are the rails 6 used in the wheel-rail railway system. The frame 3 is connected to the carriage through a suspension device. The support wheels 4 are installed on both sides of the frame 3. When the system is not suspended, the support and protection are achieved by the support wheels 4 installed below the frame 3 contacting the upper part of the rails 6.

[0050] In this embodiment, the guide device is fixed to the front and rear ends of the frame 3. Figure 5 As shown, the guide device includes a guide electromagnet 5, a transverse stopper 7 and an iron yoke 8. A guide electromagnet 5 is provided on each side of the rail 6, and a coil is wound on it. The guide electromagnet 5 is provided with an iron yoke 8 on the upper and lower sides. The iron yoke 8 is fixedly connected to the frame 3. The guide device is also provided with a controller and a gap sensor for closed-loop control of the electromagnet coil. The iron yoke 8 includes an upper iron yoke and a lower iron yoke, wherein a transverse stopper 7 is provided at the end of the upper iron yoke close to the rail 6. The transverse stopper 7 is made of a magnetic conductive material to prevent the electromagnet from being sucked to death.

[0051] The system realizes contactless guidance through the magnetic force between the guide device and the rail 6. Specifically, when the system is in a no-load state, the electromagnet coils installed on both sides of the rail 6 form a closed magnetic circuit with the rail 6 to generate a guiding force, thereby realizing the contactless guidance function of the system.

[0052] In this embodiment, the suspension device is fixed to the middle of the frame 3, such as Figure 4 As shown, the suspension device includes a suspension magnet 9 and a skirt 11. A suspension magnet 9 is arranged on each side of the rail 6. The two suspension magnets 9 are fixedly connected by the skirt 11. The skirt 11 is used to fix and protect the suspension magnet 9. The suspension magnet 9 includes an electromagnet, a permanent magnet or a hybrid magnet.

[0053] In this embodiment, the system realizes contactless suspension through the magnetic force between the suspension magnet 9 and the rail 6. The electromagnet coil and the head of the rail 6 form a magnetic circuit with the minimum magnetic resistance, maintaining a relative balance state. When the system is loaded, the device produces a vertical displacement, at which time the closed magnetic circuit changes, the system deviates from the stable state, and a vertical electromagnetic attraction is generated, so that the system has a movement trend to return to the stable state, realizing the vertical suspension function.

[0054] Among them, the traction device is a linear motor, such as Figure 3 As shown, the linear motor is fixed to the lower part of the frame 3. The linear motor comprises a linear motor stator 1 and an induction plate 2, wherein the induction plate 2 is fixed on the central axis of two rails 6, the linear motor stator 1 is vertically aligned with the induction plate 2, and a preset air gap is maintained between the two.

[0055] In this embodiment, the linear motor is a short-stator linear motor.

[0056] In this embodiment, the system realizes contactless traction through a linear motor. Specifically, the coil of the linear motor stator 1 installed at the bottom of the frame 3 and the induction plate 2 installed in the center of the ground track constitute a linear motor, and the alternating magnetic field is generated by controlling the current of the coil of the linear motor stator 1 to drive the system to move along the track direction, thereby realizing the contactless traction function.

[0057] In this embodiment, the positional relationship between the frame 3 and the carriage and other transport devices 10 includes: ground mode and hanging mode. The ground mode is that the frame 3 is below the transport device 10, such as Figure 7 As shown, the hanging form is that the frame 3 is above the carrier 10, as shown in FIG. Figure 8 shown. Figure 7 and Figure 8 In the figure, the circle represents the tunnel cross section.

[0058] Example 2

[0059] In this example, a control method for a maglev transportation system that realizes non-contact operation through the steel rails of an existing railway is applied, and a non-contact operation maglev transportation system as described below is applied, and the method includes a guidance control process, a suspension process and a traction control process;

[0060] The guiding control process is as follows: first, the gap sensor collects the gap signal between the guiding electromagnet 5 and the rail 6. When the gap signals on both sides are inconsistent, the controller uses the feedback control algorithm to adjust the coil current in the guiding electromagnet 5 to achieve guiding control. Figure 6 As shown;

[0061] The suspension process is as follows: the suspension magnet 9 and the head of the rail 6 form a closed magnetic circuit, and the closed magnetic circuit is in a stable state with the minimum total magnetic resistance, thereby realizing contactless suspension.

[0062] The traction control process is: controlling the linear motor to generate an alternating magnetic field, driving the system to move along the track direction, and realizing non-contact traction.

[0063] The structure of a non-contact magnetic levitation transportation system used in the method is as follows Figure 1 , Figure 2 and Figure 4 As shown, Figure 1 This is the front view of the structure of the maglev transportation system; Figure 2 It is a cross-sectional view of the whole device projected in the direction of the arrow from the imaginary section line A of the main view; Figure 4 It is a sectional view projected from the imaginary section line B in the direction of the arrow.

[0064] The system consists of a guide device, a suspension device, a traction device, a rail 6, a frame 3 and a support wheel 4;

[0065] Among them, the frame 3 is suspended and connected with the carrier 10, and support wheels 4 are provided on both sides of the frame 3; the support wheels 4, the suspension device, the guide device, and the linear motor are installed on the frame 3; the rails 6 are installed on the ground, and the induction plate 2 is installed at the central axis of the two rails 6.

[0066] The rails 6 are installed on the ground and are the running tracks of the system. In this embodiment, they are the rails 6 used in the wheel-rail railway system. The frame 3 is connected to the carriage through a suspension device. The support wheels 4 are installed on both sides of the frame 3. When the system is not suspended, the support and protection are achieved by the support wheels 4 installed below the frame 3 contacting the upper part of the rails 6.

[0067] In this embodiment, the guide device is fixed to the front and rear ends of the frame 3. Figure 5As shown, the guide device includes a guide electromagnet 5, a transverse stopper 7 and an iron yoke 8. A guide electromagnet 5 is provided on each side of the rail 6, and a coil is wound on it. The guide electromagnet 5 is provided with an iron yoke 8 on the upper and lower sides. The iron yoke 8 is fixedly connected to the frame 3. The guide device is also provided with a controller and a gap sensor for closed-loop control of the electromagnet coil. The iron yoke 8 includes an upper iron yoke and a lower iron yoke, wherein a transverse stopper 7 is provided at the end of the upper iron yoke close to the rail 6. The transverse stopper 7 is made of a magnetic conductive material to prevent the electromagnet from being sucked to death.

[0068] The system realizes contactless guidance through the magnetic force between the guide device and the rail 6. Specifically, when the system is in a no-load state, the electromagnet coils installed on both sides of the rail 6 form a closed magnetic circuit with the rail 6 to generate a guiding force, thereby realizing the contactless guidance function of the system.

[0069] In this embodiment, the gap sensor collects gap signals from the electromagnet coil to both sides of the rail 6. When it is detected that the gap values ​​on both sides are inconsistent, the current magnitudes of the coils on both sides are adjusted by a preset feedback control algorithm. The specific formula of the feedback control algorithm is:

[0070]

[0071] Where i0 is the coil current when the system is in stable condition, i1 and i2 are the currents of the left coil and the right coil, c1 and c2 are the transverse air gaps between the left coil and the right coil and the rail 6 surfaces respectively; K1, K2, K3 are feedback control coefficients; and is the differential of the lateral air gap.

[0072] In this embodiment, the suspension device is fixed to the middle of the frame 3, such as Figure 4 As shown, the suspension device includes a suspension magnet 9 and a skirt 11. A suspension magnet 9 is arranged on each side of the rail 6. The two suspension magnets 9 are fixedly connected by the skirt 11. The skirt 11 is used to fix and protect the suspension magnet 9. The suspension magnet 9 includes an electromagnet, a permanent magnet or a hybrid magnet.

[0073] In this embodiment, the system realizes contactless suspension through the magnetic force between the suspension magnet 9 and the rail 6. The electromagnet coil and the head of the rail 6 form a magnetic circuit with the minimum magnetic resistance, maintaining a relative equilibrium state. When the system is disturbed by a vertical load, the device produces a vertical displacement. At this time, the closed magnetic circuit changes, the system deviates from the stable state, and a vertical electromagnetic attraction is generated, so that the system has a movement trend to return to the stable state, realizing the vertical suspension function.

[0074] In this embodiment, when the system is disturbed by a vertical load, the relative position of the suspension magnet (9) and the head of the rail (6) changes accordingly, and the magnetic resistance of the closed magnetic circuit increases, so that the system generates a vertical component force, thereby achieving stable contactless suspension without the need for additional control.

[0075] Among them, the traction device is a linear motor, such as Figure 3 As shown, the linear motor is fixed to the lower part of the frame 3. The linear motor comprises a linear motor stator 1 and an induction plate 2, wherein the induction plate 2 is fixed on the central axis of two rails 6, and the linear motor stator 1 is vertically aligned with the induction plate 2, with an air gap between them.

[0076] In this embodiment, the linear motor is a short-stator linear motor.

[0077] In this embodiment, the system realizes contactless traction through a linear motor. Specifically, the coil of the linear motor stator 1 installed at the bottom of the frame 3 and the induction plate 2 installed in the center of the ground track constitute a linear motor. First, the linear motor stator 1 and the induction plate 2 are controlled to maintain a preset vertical distance, and then the linear motor stator 1 is energized, and an alternating magnetic field is generated by controlling the current of the coil of the linear motor stator 1 to drive the system to move along the track direction, thereby realizing the contactless traction function.

[0078] In this embodiment, the positional relationship between the frame 3 and the carriage and other transport devices 10 includes: ground mode and hanging mode. The ground mode is that the frame 3 is below the transport device 10, such as Figure 7 As shown, the hanging form is that the frame 3 is above the carrier 10, as shown in FIG. Figure 8 shown. Figure 7 and Figure 8 In the figure, the circle represents the tunnel cross section.

[0079] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A non-contact magnetic levitation transportation system, characterized in that: The system is composed of a guide device, a suspension device, a traction device, a rail (6), a frame (3) and a support wheel (4); The frame (3) is suspended and connected to the carrier (10), and the support wheels (4) are arranged on both sides of the frame (3); The guide device is fixed to the front and rear ends of the frame (3), and comprises a guide electromagnet (5), a transverse stopper (7) and an iron yoke (8). A guide electromagnet (5) is arranged on each side of the rail (6), a coil is wound on the guide electromagnet, and an iron yoke (8) is arranged above and below the guide electromagnet (5). The iron yoke (8) is fixedly connected to the frame (3). A controller and a gap sensor are also arranged in the guide device. The suspension device is fixed to the middle of the frame (3), and comprises a suspension magnet (9) and a skirt plate (11). A suspension magnet (9) is arranged on each side of the rail (6), and the two suspension magnets (9) are fixedly connected by the skirt plate (11); The traction device is a linear motor fixed to the lower part of the frame (3).

2. A non-contact magnetic levitation transportation system according to claim 1, characterized in that: The iron yoke (8) comprises an upper iron yoke and a lower iron yoke, wherein a transverse stopper (7) is provided at the end of one side of the upper iron yoke close to the steel rail (6), and the transverse stopper (7) is made of magnetic conductive material.

3. A non-contact magnetic levitation transportation system according to claim 1, characterized in that: The suspension magnet (9) comprises an electromagnet, a permanent magnet or a hybrid magnet.

4. A non-contact magnetic levitation transportation system according to claim 1, characterized in that: The linear motor comprises a linear motor stator (1) and an induction plate (2), wherein the induction plate (2) is installed on the ground and fixed on the central axis of two steel rails (6), the linear motor stator (1) and the induction plate (2) are vertically aligned, and a preset air gap is maintained between the two.

5. A non-contact magnetic levitation transportation system according to claim 4, characterized in that: The linear motor is a short-stator linear motor.

6. A non-contact magnetic levitation transportation system according to claim 1, characterized in that: The positional relationship between the frame (3) and the carrier (10) includes: a ground mode and a hanging mode, wherein the ground mode is that the frame (3) is below the carrier (10), and the hanging mode is that the frame (3) is above the carrier (10).

7. A non-contact operation magnetic levitation transportation system control method, characterized in that: The method is applied to a non-contact magnetic levitation transportation system as described in any one of claims 1 to 6, and the method includes a guidance control process, a suspension process and a traction control process; The guide control process is as follows: first, a gap sensor collects a gap signal between the guide electromagnet (5) and the rail (6); when the gap signals on both sides are inconsistent, a controller uses a feedback control algorithm to adjust the coil current in the guide electromagnet (5) to achieve guide control; The suspension process is as follows: the suspension magnet (9) and the head of the rail (6) form a closed magnetic circuit, the closed magnetic circuit is in a stable state with the minimum total magnetic resistance, and contactless suspension is achieved; The traction control process is: controlling the linear motor to generate an alternating magnetic field, driving the system to move along the track direction, and realizing non-contact traction.

8. A non-contact magnetic levitation transportation method according to claim 7, characterized in that: The specific formula of the feedback control algorithm is: Where i0 is the coil current when the system is in stable condition, i1 and i2 are the currents of the left coil and the right coil, c1 and c2 are the transverse air gaps between the left coil and the right coil and the rail (6) surface, respectively; K1, K2, K3 are feedback control coefficients; and is the differential of the lateral air gap.

9. A non-contact magnetic levitation transportation method according to claim 7, characterized in that: During the suspension process, when the system is disturbed by a vertical load, the relative position of the suspension magnet (9) and the head of the rail (6) changes accordingly, and the magnetic resistance of the closed magnetic circuit increases, causing the system to generate a vertical component force, thereby generating a movement trend to return to a stable state, thereby achieving stable contactless suspension without the need for additional control.

10. A non-contact magnetic levitation transportation method according to claim 7, characterized in that: The specific process of controlling the linear motor to generate an alternating magnetic field during the traction control process is as follows: first, the linear motor stator (1) is controlled to maintain a preset vertical distance with the induction plate (2), then the linear motor stator (1) is energized, and an alternating magnetic field is generated by controlling the current of the linear motor stator (1) coil.

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