Superconducting linear motor speed closed-loop control method and device, equipment and storage medium

Abstract

The invention provides a superconducting linear motor speed closed-loop control method, a superconducting linear motor speed closed-loop control device, superconducting linear motor speed closed-loop control equipment and a storage medium. The superconducting linear motor speed closed-loop control method comprises the steps of acquiring an upper-layer control right given speed Vgivent (0) and a real-time speed Vfedback; the speed difference v is determined according to the formula that v = V < given (0)-V < feed back >; determining a current operation stage according to the Vgivent (0); determining control force according to v and the current operation stage; and performing closed-loop control on the speed of the superconducting linear motor based on the control force. According to the method provided by the invention, the current operation stage is determined according to the given speed Vgivent (0) of the upper-layer control right, then the control force is determined according to the speed difference and the current operation stage, and closed-loop control is performed on the speed of the superconducting linear motor based on the control force. The closed-loop control of the speed of the superconducting linear motor based on the change of the real-time parameters of the full-line operation state is realized, and the adaptability to the environmental change is improved.

Description

Technical Field

[0001] This application relates to the field of traction control technology, and particularly to a superconducting linear motor speed closed-loop control method, device, equipment, and storage medium. Background Art

[0002] Traditional speed closed-loop control methods are implemented through controllers. For example, a fuzzy controller is a speed closed-loop control method based on fuzzy logic. It maps the actual speed and the set target speed to a fuzzy set and adjusts the control signal according to fuzzy rules.

[0003] The fuzzy controller can handle non-linear and fuzzy problems and belongs to a type of intelligent control algorithm. However, it also requires a large amount of data collection and analysis, depends on the authenticity and applicability of the data, lacks consideration of real-time parameter changes in the full-line operation state, and lacks adaptability to environmental changes. Summary of the Invention

[0004] To solve one of the above technical defects, this application provides a superconducting linear motor speed closed-loop control method, device, equipment, and storage medium.

[0005] In the first aspect of this application, a superconducting linear motor speed closed-loop control method is provided. The method includes:

[0006] Obtain the upper-layer control right given speed V_given(0) and the real-time speed V_fedback;

[0007] Determine the speed difference △v = V_given(0) - V_fedback;

[0008] Determine the current operation stage according to V_given(0);

[0009] Determine the control force according to △v and the current operation stage;

[0010] Perform closed-loop control on the speed of the superconducting linear motor based on the control force.

[0011] Optionally, determining the current operation stage according to V_given(0) includes:

[0012] Obtain the given speed V_given(k) of the subsequent k-th cycle;

[0013] If [V_given(k) - V_given(0)] / [t(k) - t(0)] > a1, then determine that the current operation stage is the acceleration stage, where a is a preset first threshold, t(k) is the time of the k-th cycle, and t(0) is the time when the upper-layer control right given speed V_given(0) is obtained;

[0014] If [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -a1 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ a1, then determine that the current operating stage is the constant-speed stage;

[0015] If [V_given(k) - V_given(0)] / [t(k) - t(0)] < -a1, then determine that the current operating stage is the deceleration stage.

[0016] Optionally, a1 = 0.05.

[0017] Optionally, determine the control force according to △v and the current operating stage, including:

[0018] If △v ≥ a2 and △v ≤ Vd * a3, then determine that the control force is PID(△v) + acc * mp1; where a2 is a preset second threshold, a3 is a preset third threshold, PID(△v) is the output of a proportional + integral + derivative PID controller with △v as the input, acc is the current acceleration, mp1 is the first acceleration feedforward control coefficient, and Vd is the speed closed-loop control target;

[0019] If △v > Vd * a3 and △v < Vd * a4, then determine that the control force is PID(△v) + acc * mp1 + △v * np1; where a4 is a preset fourth threshold and np1 is the first speed difference control coefficient;

[0020] If △v ≥ Vd * a4, then determine the control force according to the current operating stage;

[0021] If △v ≤ a2 and △v ≥ -Vd * a3, then determine that the control force is PID(△v) + acc * mp3; where mp3 is the third acceleration feedforward control coefficient;

[0022] If △v > -Vd * a3 and △v < -Vd * a4, then determine that the control force is PID(△v) + acc * mp3 + △v * np3; where np3 is the third speed difference control coefficient;

[0023] If △v ≥ -Vd * a4, then determine the control force according to the current operating stage.

[0024] Optionally, determine the control force according to the current operating stage, including:

[0025] If △v ≥ Vd * a4, then when the current operating stage is the acceleration stage or the deceleration stage, determine that the control force is PID(△v) + acc * mp2 + △v * np2; when the current operating stage is the constant-speed stage, determine that the control force is PID(△v) + acc * mp2 + △v * △v * △v * np2;

[0026] If △v≥-Vd*a4, when in the current operation stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v)+acc*mp4+△v*np4; when in the current operation stage is the constant speed stage, determine the control force as PID(△v)+acc*mp4+△v*△v*△v*np4;

[0027] Among them, mp2 is the second acceleration feedforward control coefficient, np2 is the second speed difference control coefficient; mp4 is the fourth acceleration feedforward control coefficient, np4 is the fourth speed difference control coefficient.

[0028] Optionally, a2 = 0; a3 = 1 / 6; a4 = 2 / 3.

[0029] Optionally, the value range of mp1 is (0, 0.5); the value range of np1 is (0, 0.5);

[0030] The value range of mp2 is (0.5, 1); the value range of np2 is (0.5, 1);

[0031] The value range of mp3 is (-0.5, 0); the value range of np3 is (-0.5, 0);

[0032] The value range of mp4 is (-1, -0.5); the value range of np4 is (-1, -0.5).

[0033] In the second aspect of the present application, a superconducting linear motor speed closed-loop control device is provided, and the device includes:

[0034] An acquisition module, configured to acquire the upper-layer control right given speed V_given(0) and the real-time speed V_fedback;

[0035] A first determination module, configured to determine the speed difference △v = V_given(0) - V_fedback;

[0036] A second determination module, configured to determine the current operation stage according to V_given(0);

[0037] A third determination module, configured to determine the control force according to the △v determined by the first determination module and the current operation stage determined by the second determination module;

[0038] A control module, configured to perform closed-loop control on the speed of the superconducting linear motor based on the control force determined by the third determination module.

[0039] In the third aspect of the present application, an electronic device is provided, including:

[0040] A memory;

[0041] a processor; and

[0042] a computer program;

[0043] wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method described in the first aspect above.

[0044] In the fourth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored; the computer program is executed by a processor to implement the method described in the first aspect above.

[0045] The present application provides a superconducting linear motor speed closed-loop control method, device, equipment, and storage medium. The method includes: obtaining the upper-layer control right given speed V_given(0) and the real-time speed V_fedback; determining the speed difference △v = V_given(0) - V_fedback; determining the current operation stage according to V_given(0); determining the control force according to △v and the current operation stage; and performing closed-loop control on the speed of the superconducting linear motor based on the control force. The method provided by the present application determines the current operation stage according to the upper-layer control right given speed V_given(0), and then determines the control force according to the speed difference and the current operation stage, and performs closed-loop control on the speed of the superconducting linear motor based on the control force, realizing closed-loop control of the speed of the superconducting linear motor based on the change of real-time parameters of the full-line operation state, and improving the adaptability to environmental changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0047] Figure 1 is a schematic flow chart of a superconducting linear motor speed closed-loop control method provided by an embodiment of the present application;

[0048] Figure 2 is a control strategy framework diagram of a superconducting linear motor speed closed-loop control method provided by an embodiment of the present application;

[0049] Figure 3 is the input acceleration curve provided by an embodiment of the present application;

[0050] Figure 4 is the given speed curve provided by an embodiment of the present application;

[0051] Figure 5 is a schematic diagram of the experimental results of not adopting the superconducting linear motor speed closed-loop control method provided by this embodiment in an embodiment of the present application;

[0052] Figure 6 Schematic diagram of experimental results of the superconducting linear motor speed closed-loop control method provided by the embodiment of the present application;

[0053] Figure 7 Acceleration input curve provided by the embodiment of the present application;

[0054] Figure 8 Acceleration curve with 30% - 80% fluctuation added to the acceleration input provided by the embodiment of the present application;

[0055] Figure 9 Schematic diagram of test results of speed following test with no random fluctuation in acceleration input provided by the embodiment of the present application;

[0056] Figure 10 Schematic diagram of test results of speed following test with random fluctuation added to the acceleration input provided by the embodiment of the present application;

[0057] Figure 11 Schematic diagram of the structure of a superconducting linear motor speed closed-loop control device provided by the embodiment of the present application. Detailed implementation manners

[0058] In order to make the technical solutions and advantages in the embodiments of the present application clearer and more understandable, the following further details the exemplary embodiments of the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than an exhaustive list of all embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0059] In the process of implementing the present application, the inventors found that the traditional speed closed-loop control method is implemented through a controller. For example, a fuzzy controller is a speed closed-loop control method based on fuzzy logic. By mapping the actual speed and the set target speed to a fuzzy set and adjusting the control signal according to fuzzy rules. The fuzzy controller can handle problems of nonlinearity and fuzziness, belonging to a kind of intelligent control algorithm. However, it also requires a large amount of data collection and analysis, depends on the authenticity and applicability of the data, lacks consideration of real-time parameter changes in the full-line operation state, and lacks adaptability to environmental changes.

[0060] In view of the above problems, an embodiment of the present application provides a superconducting linear motor speed closed-loop control method, device, equipment, and storage medium. The method includes: obtaining the upper-layer control right given speed V_given(0) and the real-time speed V_fedback; determining the speed difference △v = V_given(0) - V_fedback; determining the current operation stage according to V_given(0); determining the control force according to △v and the current operation stage; and performing closed-loop control on the superconducting linear motor speed based on the control force. The method provided in the present application determines the current operation stage according to the upper-layer control right given speed V_given(0), and then determines the control force according to the speed difference and the current operation stage, and performs closed-loop control on the superconducting linear motor speed based on the control force, realizing closed-loop control of the superconducting linear motor speed based on the change of real-time parameters of the full-line operation state, and improving the adaptability to environmental changes.

[0061] See Figure 1 , the implementation process of the superconducting linear motor speed closed-loop control method provided in this embodiment is as follows:

[0062] 101. Obtain the upper-layer control right given speed V_given(0) and the real-time speed V_fedback.

[0063] 102. Determine the speed difference △v = V_given(0) - V_fedback.

[0064] 103. Determine the current operation stage according to V_given(0).

[0065] In this step, the difference in speed between multiple cycles is used to determine whether it is in the acceleration, constant speed, and deceleration stages, that is, the given speed V_given(0) at the current moment (such as the t(0) moment) and the given speed V_given(k) in the subsequent k cycles are received from the upper-layer software, and the current operation stage is determined from the speed difference.

[0066] Therefore, the implementation process of this step is as follows:

[0067] 103-1. Obtain the given speed V_given(k) in the subsequent k-th cycle.

[0068] 103-2, if [V_given(k) - V_given(0)] / [t(k) - t(0)] > a1, then determine that the current operation stage is the acceleration stage. If [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -a1 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ a1, then determine that the current operation stage is the constant speed stage. If [V_given(k) - V_given(0)] / [t(k) - t(0)] < -a1, then determine that the current operation stage is the deceleration stage.

[0069] Where a is a preset first threshold, t(k) is the time at the k-th cycle, and t(0) is the time when the upper layer control right is obtained for the given speed V_given(0).

[0070] By step 10, the three stages of acceleration, constant speed, and deceleration are distinguished, and subsequent acceleration feedforward compensation control can be performed through these three stages.

[0071] Taking a1 = 0.05 as an example, if [V_given(k) - V_given(0)] / [t(k) - t(0)] > 0.05, it is the acceleration stage; if [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -0.05 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ 0.05, it is the constant speed stage; if [V_given(k) - V_given(0)] / [t(k) - t(0)] < -0.05, it is the deceleration stage.

[0072] Taking a1 = 0 as an example, if [V_given(k) - V_given(0)] / [t(k) - t(0)] > 0, it is the acceleration stage; if [V_given(k) - V_given(0)] / [t(k) - t(0)] = 0, it is the constant speed stage; if [V_given(k) - V_given(0)] / [t(k) - t(0)] < 0, it is the deceleration stage.

[0073] 104, determine the control force according to △v and the current operation stage.

[0074] This step will perform compensation in different operation stages to obtain the control force.

[0075] For example

[0076] If △v ≥ a2 and △v ≤ Vd * a3, then determine that the control force is PID(△v) + acc * mp1.

[0077] Among them, a2 is a preset second threshold, a3 is a preset third threshold, PID(△v) is the output of a PID (Proportional Integral Derivative) controller with △v as the input, acc is the current acceleration, mp1 is the first acceleration feedforward control coefficient, and Vd is the speed closed-loop control target.

[0078] If △v > Vd*a3 and △v < Vd*a4, then determine the control force as PID(△v) + acc*mp1 + △v*np1.

[0079] Among them, a4 is a preset fourth threshold, and np1 is the first speed difference control coefficient.

[0080] If △v ≥ Vd*a4, then determine the control force according to the current operating stage.

[0081] For example, when the current operating stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v) + acc*mp2 + △v*np2. When the current operating stage is the constant speed stage, determine the control force as PID(△v) + acc*mp2 + △v*△v*△v*np2.

[0082] Among them, mp2 is the second acceleration feedforward control coefficient, and np2 is the second speed difference control coefficient.

[0083] If △v ≤ a2 and △v ≥ -Vd*a3, then determine the control force as PID(△v) + acc*mp3.

[0084] Among them, mp3 is the third acceleration feedforward control coefficient.

[0085] If △v > -Vd*a3 and △v < -Vd*a4, then determine the control force as PID(△v) + acc*mp3 + △v*np3.

[0086] Among them, np3 is the third speed difference control coefficient.

[0087] If △v ≥ -Vd*a4, then determine the control force according to the current operating stage.

[0088] For example, when the current operating stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v) + acc*mp4 + △v*np4; when the current operating stage is the constant speed stage, determine the control force as PID(△v) + acc*mp4 + △v*△v*△v*np4;

[0089] Among them, mp4 is the fourth acceleration feedforward control coefficient, and np4 is the fourth speed difference control coefficient.

[0090] In specific implementation, a2 can be 0, a3 can be 1 / 6, and a4 can be 2 / 3.

[0091] In addition, the value range of mp1 is (0, 0.5). The value range of np1 is (0, 0.5). The value range of mp2 is (0.5, 1). The value range of np2 is (0.5, 1). The value range of mp3 is (-0.5, 0). The value range of np3 is (-0.5, 0). The value range of mp4 is (-1, -0.5). The value range of np4 is (-1, -0.5).

[0092] Step 104 divides multiple intervals according to the control target, and compensates through the speed difference control coefficient np and the acceleration feedforward control coefficient mp in different operating stages, thereby obtaining the control force.

[0093] Among them, the value range of the speed difference control coefficient np is (-1, 1), and the value range of the acceleration feedforward control coefficient mp is (-1, 1).

[0094] During the process of dividing the intervals, according to the requirements of speed closed-loop control, if the speed closed-loop control target is required to be within plus or minus Vd (km / h), then it should be controlled that a larger control force is used to control the speed tracking situation within the speed control range of -(Vd - 1) to +(Vd - 1). In this way, the speed can be controlled within the target range as much as possible. At the same time, when the speed error is within a small range within this speed interval, the control force can be output within a small range, ensuring the stability of the output control force within the small error range between the given speed and the actual tracking speed, and also improving the stability of speed following.

[0095] In the range where the speed error is less than -(Vd - 1) or greater than +(Vd - 1), a larger control force is required to make the actual speed return to the normal speed error range as soon as possible.

[0096] According to the above analysis, taking a2 as 0, a3 as 1 / 6, and a4 as 2 / 3 as an example, through △v = V_given(0) - V_fedback, the controllable speed interval is divided into six intervals, which are respectively:

[0097] ① When △v ≥ 0 and △v ≤ Vd / 6;

[0098] ② When △v > Vd / 6 and △v < Vd*2 / 3;

[0099] ③ When △v ≥ Vd*2 / 3;

[0100] ④ When △v ≤ 0 and △v ≥ -Vd / 6;

[0101] ⑤ When △v > -Vd / 6 and △v < -Vd*2 / 3;

[0102] ⑥When Δv ≥ -Vd*2 / 3.

[0103] When performing feedforward compensation based on the above intervals, due to the adoption of acceleration feedforward compensation control, it has a relatively high dependence on acceleration.

[0104] Velocity zones ① and ④ are intervals with relatively small velocity deviations. At this time, the basic PI output and acceleration feedforward compensation can be used to update the control force;

[0105] Velocity zones ② and ⑤ are intervals with medium velocity deviations and are also intervals within the range close to the target velocity. In the traction section and the braking section, a small feedforward compensation variable proportional to the velocity deviation can be added to update the control force;

[0106] Velocity zones ③ and ⑥ are intervals with relatively large velocity deviations. A relatively large feedforward compensation increment is required to achieve large velocity control. However, since the running time in the acceleration section and the deceleration section is relatively short and the acceleration changes constantly, in order to maintain the stability of the velocity closed-loop control, the control strategy for the medium velocity deviation interval can be maintained; but in the constant velocity stage, in order to achieve tracking within a small velocity error range and ensure the stability of current change, the cube of the velocity error can be introduced as a feedforward adjustment parameter. The cube has a positive adjustment effect and can also achieve inorganic adjustment of the control force, and can simultaneously maintain stable velocity tracking and smooth adjustment of the current.

[0107] Therefore, multiple different compensation strategies are obtained to further obtain the control force, that is:

[0108] ①When Δv ≥ 0 and Δv ≤ Vd / 6, the control force is determined as PID(Δv) + acc*mp1.

[0109] mp1 ∈ (0, 0.5)

[0110] ②When Δv > Vd / 6 and Δv < Vd*2 / 3, the control force is determined as PID(Δv) + acc*mp1 + Δv*np1.

[0111] mp1 ∈ (0, 0.5), np1 ∈ (0, 0.5).

[0112] ③When Δv ≥ Vd*2 / 3, the control force is determined according to the current operating stage.

[0113] If the current operating stage is the acceleration stage or the deceleration stage, then the control force is determined as:

[0114] PID(Δv) + acc*mp2 + Δv*np2.

[0115] If the current operating phase is the constant speed phase, determine the control force as PID(△v)+acc*mp2+△v*△v*△v*np2.

[0116] ④ When △v ≤ 0 and △v ≥ -Vd / 6, determine the control force as PID(△v)+acc*mp3.

[0117] ⑤ When △v > -Vd / 6 and △v < -Vd*2 / 3, determine the control force as PID(△v)+acc*mp3+△v*np3.

[0118] ⑥ When △v ≥ -Vd*2 / 3, determine the control force according to the current operating phase.

[0119] If the current operating phase is the acceleration phase or the deceleration phase, determine the control force as PID(△v)+acc*mp4+△v*np4.

[0120] If the current operating phase is the constant speed phase, determine the control force as PID(△v)+acc*mp4+△v*△v*△v*np4.

[0121] 105. Perform closed-loop control on the speed of the superconducting linear motor based on the control force.

[0122] The method provided in this embodiment, based on the collection of information such as the ground line and vehicle weight, takes into account in real time the changes in line resistance, line magnetic resistance, resistance of pipes or beams, etc., to perform real-time following and change of feedforward resistance. At the same time, for the following index of the target speed, such as the requirement that the speed closed-loop following needs to be controlled within ±3 km / h, etc., perform control in sub-intervals, generally divided into 6 small speed range intervals; based on the superposition consideration of the above two conditions, high-precision following control of the target speed can be completed.

[0123] Next, taking Figure 2 the control strategy framework diagram of the superconducting linear motor speed closed-loop control method shown as an example, the method provided in this embodiment is described again:

[0124] Obtain the given speed V_given(0) from the upper controller (in Figure 2 , V_given(0) is abbreviated as V_given), the actually sampled speed V_fedback, and calculate the speed difference △v between the given speed and the feedback actual speed.

[0125] According to △v and the current operating phase, perform different compensation strategies in multiple intervals, and then determine the control force.

[0126] Perform closed-loop control on the speed of the superconducting linear motor based on the control force.

[0127] Figure 2 In this, "acc" is the acceleration, representing the operation stage.

[0128] Through the tests and verifications on the test platform, the test results of the algorithm that only considers PID control are compared with those of the superconducting linear motor speed closed-loop control method provided in this embodiment. The data shows that this control algorithm can achieve a speed error tracking of ±3 km / h. At the same time, in order to eliminate the dependence on the stability of the feedforward input parameters, random fluctuations are added to the input variables, and the test results verify the strong robustness of this control algorithm.

[0129] The verification process is as follows:

[0130] In the simulation platform, the traction acceleration limit value is set to 4 m / s 2 , and the braking acceleration limit value is set to 5 m / s 2 , the starting speed of the train is 0 cm / s 2 , the starting position is 0 cm, the proportional coefficient kp of the PID controller is set to 600, the integral coefficient ki of the PID controller is set to 16, the acceleration curve is generated by the upper-layer software, the speed following index is vd = 3 km / h, and the speed partition is 0 - 0.5 km / h, 0.5 km / h - 2.0 km / h, 2 km / h and above, 0 to -0.5 km / h, -0.5 km / h to -2.0 km / h, -2 km / h and below, six intervals. The input acceleration curve is as Figure 3 shown, and the input given speed is as Figure 4 shown.

[0131] After the upper-layer software generates the curve sequence, it issues the target acceleration, speed, and position data. The speed closed-loop uses the speed closed-loop strategy with acceleration feedforward. It can be seen from the simulation results that the superconducting linear motor speed closed-loop control method provided in this embodiment can obviously achieve speed closed-loop control more precisely than the method that does not adopt the superconducting linear motor speed closed-loop control method provided in this embodiment. The following curve is closer to the given curve. The results show that this control method makes the train operation have small impact and precise speed control. The superconducting linear motor speed closed-loop control method provided in this embodiment can achieve a speed error tracking of ±3 km / h.

[0132] As Figure 5 shows the experimental results of not adopting the superconducting linear motor speed closed-loop control method provided in this embodiment, Figure 6 and shows the experimental results of adopting the superconducting linear motor speed closed-loop control method provided in this embodiment.

[0133] When conducting the robustness test and verification of the superconducting linear motor speed closed-loop control method provided in this embodiment, since the superconducting linear motor speed closed-loop control method provided in this embodiment adopts an enhanced acceleration feedforward compensation control algorithm and the acceleration feedforward in the feedforward compensation part accounts for a relatively large proportion, therefore, fluctuations of 30% to 80% are randomly added to the input acceleration parameters. The acceleration input curve is as shown in Figure 7 (where acc is the acceleration). The acceleration curve with fluctuations of 30% to 80% added to the acceleration input is as shown in Figure 8 . The test results of the speed following test without random fluctuations in the acceleration input are as shown in Figure 9 . The test results of the speed following test with random fluctuations added to the acceleration input are as shown in Figure 10 . Comparing Figure 9 and Figure 10 's test results, even with the large-fluctuation acceleration input based on Figure 9 , the superconducting linear motor speed closed-loop control method provided in this embodiment can still achieve stable tracking. The robustness of the control algorithm is verified.

[0134] The superconducting linear motor speed closed-loop control method provided in this embodiment is based on traditional PID control and performs enhanced feedforward compensation speed closed-loop control. It is an enhanced feedforward compensation speed tracking control method that can achieve high-precision and high-reliability operation curve tracking control on a simple control platform.

[0135] This embodiment provides a superconducting linear motor speed closed-loop control method, which obtains the upper-layer control right given speed V_given(0) and the real-time speed V_fedback; determines the speed difference △v = V_given(0) - V_fedback; determines the current operation stage according to V_given(0); determines the control force according to △v and the current operation stage; and performs closed-loop control on the superconducting linear motor speed based on the control force. The method provided in this embodiment determines the current operation stage according to the upper-layer control right given speed V_given(0), and then determines the control force according to the speed difference and the current operation stage, and performs closed-loop control on the superconducting linear motor speed based on the control force, realizing closed-loop control of the superconducting linear motor speed based on the change of real-time parameters in the full-line operation state, and improving the adaptability to environmental changes.

[0136] Based on the same inventive concept of the superconducting linear motor speed closed-loop control method, this embodiment provides a superconducting linear motor speed closed-loop control device. Refer to Figure 11 , this device includes:

[0137] An acquisition module 1101, configured to acquire the upper-layer control right given speed V_given(0) and the real-time speed V_fedback.

[0138] The first determination module 1102 is configured to determine the speed difference Δv = V_given(0) - V_fedback.

[0139] The second determination module 1103 is configured to determine the current operation stage according to V_given(0).

[0140] The third determination module 1104 is configured to determine the control force according to the Δv determined by the first determination module 1102 and the current operation stage determined by the second determination module 1103.

[0141] The control module 1105 is configured to perform closed-loop control on the speed of the superconducting linear motor based on the control force determined by the third determination module 1104.

[0142] Among them, the second determination module 1103 is configured to obtain the given speed V_given(k) of the subsequent k-th cycle; if [V_given(k) - V_given(0)] / [t(k) - t(0)] > a1, it is determined that the current operation stage is the acceleration stage, where a is a preset first threshold, t(k) is the time of the k-th cycle, and t(0) is the time when the upper-layer control right gives the speed V_given(0); if [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -a1 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ a1, it is determined that the current operation stage is the constant-speed stage; if [V_given(k) - V_given(0)] / [t(k) - t(0)] < -a1, it is determined that the current operation stage is the deceleration stage.

[0143] Among them, a1 = 0.05.

[0144] Among them, the third determination module 1104 is used to determine that the control force is PID(△v)+acc*mp1 if △v≥a2 and △v≤Vd*a3. Wherein, a2 is a preset second threshold, a3 is a preset third threshold, PID(△v) is the output of a proportional + integral + differential PID controller with △v as the input, acc is the current acceleration, mp1 is the first acceleration feedforward control coefficient, and Vd is the speed closed-loop control target. If △v>Vd*a3 and △v<Vd*a4, then determine that the control force is PID(△v)+acc*mp1+△v*np1. Wherein, a4 is a preset fourth threshold, and np1 is the first speed difference control coefficient. If △v≥Vd*a4, determine the control force according to the current operation stage. If △v≤a2 and △v≥-Vd*a3, then determine that the control force is PID(△v)+acc*mp3. Wherein, mp3 is the third acceleration feedforward control coefficient. If △v>-Vd*a3 and △v<-Vd*a4, then determine that the control force is PID(△v)+acc*mp3+△v*np3. Wherein, np3 is the third speed difference control coefficient. If △v≥-Vd*a4, determine the control force according to the current operation stage.

[0145] Among them, the third determination module 1104 is used to determine that the control force is PID(△v)+acc*mp2+△v*np2 when the current operation stage is the acceleration stage or the deceleration stage if △v≥Vd*a4. When the current operation stage is the constant speed stage, determine that the control force is PID(△v)+acc*mp2+△v*△v*△v*np2. If △v≥-Vd*a4, determine that the control force is PID(△v)+acc*mp4+△v*np4 when the current operation stage is the acceleration stage or the deceleration stage. When the current operation stage is the constant speed stage, determine that the control force is PID(△v)+acc*mp4+△v*△v*△v*np4.

[0146] Wherein, mp2 is the second acceleration feedforward control coefficient, and np2 is the second speed difference control coefficient. mp4 is the fourth acceleration feedforward control coefficient, and np4 is the fourth speed difference control coefficient.

[0147] Wherein, a2 = 0. a3 = 1 / 6. a4 = 2 / 3.

[0148] Wherein, the value range of mp1 is (0, 0.5). The value range of np1 is (0, 0.5).

[0149] The value range of mp2 is (0.5, 1). The value range of np2 is (0.5, 1).

[0150] The value range of mp3 is (-0.5, 0). The value range of np3 is (-0.5, 0).

[0151] The value range of mp4 is (-1, -0.5). The value range of np4 is (-1, -0.5).

[0152] The device provided in this embodiment determines the current operation stage according to the given speed V_given(0) of obtaining the upper-layer control right, and then determines the control force according to the speed difference and the current operation stage. Based on the control force, the closed-loop control of the superconducting linear motor speed is realized, achieving the closed-loop control of the superconducting linear motor speed based on the change of real-time parameters of the full-line operation state, and improving the adaptability to environmental changes.

[0153] Based on the same inventive concept of the superconducting linear motor speed closed-loop control method, this embodiment provides an electronic device, which includes: a memory, a processor, and a computer program.

[0154] Among them, the computer program is stored in the memory and is configured to be executed by the processor to implement the above superconducting linear motor speed closed-loop control method.

[0155] Specifically,

[0156] Obtain the given speed V_given(0) of the upper-layer control right and the real-time speed V_fedback.

[0157] Determine the speed difference △v = V_given(0) - V_fedback.

[0158] Determine the current operation stage according to V_given(0).

[0159] Determine the control force according to △v and the current operation stage.

[0160] Perform closed-loop control on the superconducting linear motor speed based on the control force.

[0161] Optionally, determining the current operation stage according to V_given(0) includes:

[0162] Obtain the given speed V_given(k) of the subsequent k-th cycle.

[0163] If [V_given(k) - V_given(0)] / [t(k) - t(0)] > a1, then determine that the current operation stage is the acceleration stage, where a is a preset first threshold, t(k) is the time of the k-th cycle, and t(0) is the time when the given speed V_given(0) of obtaining the upper-layer control right is obtained.

[0164] If [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -a1 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ a1, then determine that the current operation stage is the constant speed stage.

[0165] If [V_given(k) - V_given(0)] / [t(k) - t(0)] < -a1, then determine that the current operation stage is the deceleration stage.

[0166] Optionally, a1 = 0.05.

[0167] Optionally, determine the control force according to △v and the current operation stage, including:

[0168] If △v ≥ a2 and △v ≤ Vd * a3, then determine that the control force is PID(△v) + acc * mp1. Where a2 is a preset second threshold, a3 is a preset third threshold, PID(△v) is the output of a proportional + integral + derivative PID controller with △v as the input, acc is the current acceleration, mp1 is the first acceleration feedforward control coefficient, and Vd is the speed closed-loop control target.

[0169] If △v > Vd * a3 and △v < Vd * a4, then determine that the control force is PID(△v) + acc * mp1 + △v * np1. Where a4 is a preset fourth threshold and np1 is the first speed difference control coefficient.

[0170] If △v ≥ Vd * a4, then determine the control force according to the current operation stage.

[0171] If △v ≤ a2 and △v ≥ -Vd * a3, then determine that the control force is PID(△v) + acc * mp3. Where mp3 is the third acceleration feedforward control coefficient.

[0172] If △v > -Vd * a3 and △v < -Vd * a4, then determine that the control force is PID(△v) + acc * mp3 + △v * np3. Where np3 is the third speed difference control coefficient.

[0173] If △v ≥ -Vd * a4, then determine the control force according to the current operation stage.

[0174] Optionally, determine the control force according to the current operation stage, including:

[0175] If △v ≥ Vd * a4, then when the current operation stage is the acceleration stage or the deceleration stage, determine that the control force is PID(△v) + acc * mp2 + △v * np2. When the current operation stage is the constant speed stage, determine that the control force is PID(△v) + acc * mp2 + △v * △v * △v * np2.

[0176] If △v≥-Vd*a4, when in the current operation stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v)+acc*mp4+△v*np4. When in the current operation stage is the constant speed stage, determine the control force as PID(△v)+acc*mp4+△v*△v*△v*np4.

[0177] Wherein, mp2 is the second acceleration feedforward control coefficient, and np2 is the second speed difference control coefficient. mp4 is the fourth acceleration feedforward control coefficient, and np4 is the fourth speed difference control coefficient.

[0178] Optionally, a2 = 0. a3 = 1 / 6. a4 = 2 / 3.

[0179] Optionally, the value range of mp1 is (0, 0.5). The value range of np1 is (0, 0.5).

[0180] The value range of mp2 is (0.5, 1). The value range of np2 is (0.5, 1).

[0181] The value range of mp3 is (-0.5, 0). The value range of np3 is (-0.5, 0).

[0182] The value range of mp4 is (-1, -0.5). The value range of np4 is (-1, -0.5).

[0183] The electronic device provided in this embodiment, when the computer program thereon is executed by the processor to determine the current operation stage according to the given speed V_given(0) of taking the upper layer control right, and then determine the control force according to the speed difference and the current operation stage, and perform closed-loop control on the superconducting linear motor speed based on the control force, realizes the closed-loop control of the superconducting linear motor speed based on the change of real-time parameters of the full-line operation state, and improves the adaptability to environmental changes.

[0184] Based on the same inventive concept of the superconducting linear motor speed closed-loop control method, this embodiment provides a computer-readable storage medium, and a computer program is stored thereon. The computer program is executed by the processor to implement the above superconducting linear motor speed closed-loop control method.

[0185] Specifically,

[0186] Obtain the given speed V_given(0) of taking the upper layer control right and the real-time speed V_fedback.

[0187] Determine the speed difference △v = V_given(0) - V_fedback.

[0188] Determine the current operation stage according to V_given(0).

[0189] Determine the control force based on △v and the current operation stage.

[0190] Perform closed-loop control on the speed of the superconducting linear motor based on the control force.

[0191] Optionally, determine the current operation stage according to V_given(0), including:

[0192] Obtain the given speed V_given(k) in the subsequent k-th cycle.

[0193] If [V_given(k) - V_given(0)] / [t(k) - t(0)] > a1, determine that the current operation stage is the acceleration stage, where a is a preset first threshold, t(k) is the time of the k-th cycle, and t(0) is the time when the upper-layer control right gives the speed V_given(0).

[0194] If [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -a1 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ a1, determine that the current operation stage is the constant-speed stage.

[0195] If [V_given(k) - V_given(0)] / [t(k) - t(0)] < -a1, determine that the current operation stage is the deceleration stage.

[0196] Optionally, a1 = 0.05.

[0197] Optionally, determine the control force according to △v and the current operation stage, including:

[0198] If △v ≥ a2 and △v ≤ Vd * a3, determine that the control force is PID(△v) + acc * mp1. Where a2 is a preset second threshold, a3 is a preset third threshold, PID(△v) is the output of a proportional + integral + derivative PID controller with △v as the input, acc is the current acceleration, mp1 is the first acceleration feedforward control coefficient, and Vd is the speed closed-loop control target.

[0199] If △v > Vd * a3 and △v < Vd * a4, determine that the control force is PID(△v) + acc * mp1 + △v * np1. Where a4 is a preset fourth threshold and np1 is the first speed difference control coefficient.

[0200] If △v ≥ Vd * a4, determine the control force according to the current operation stage.

[0201] If △v ≤ a2 and △v ≥ -Vd * a3, then determine the control force as PID(△v) + acc * mp3. Where, mp3 is the third acceleration feedforward control coefficient.

[0202] If △v > -Vd * a3 and △v < -Vd * a4, then determine the control force as PID(△v) + acc * mp3 + △v * np3. Where, np3 is the third velocity difference control coefficient.

[0203] If △v ≥ -Vd * a4, then determine the control force according to the current operation stage.

[0204] Optionally, determining the control force according to the current operation stage includes:

[0205] If △v ≥ Vd * a4, then when the current operation stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v) + acc * mp2 + △v * np2. When the current operation stage is the constant velocity stage, determine the control force as PID(△v) + acc * mp2 + △v * △v * △v * np2.

[0206] If △v ≥ -Vd * a4, then when the current operation stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v) + acc * mp4 + △v * np4. When the current operation stage is the constant velocity stage, determine the control force as PID(△v) + acc * mp4 + △v * △v * △v * np4.

[0207] Where, mp2 is the second acceleration feedforward control coefficient, np2 is the second velocity difference control coefficient. mp4 is the fourth acceleration feedforward control coefficient, np4 is the fourth velocity difference control coefficient.

[0208] Optionally, a2 = 0. a3 = 1 / 6. a4 = 2 / 3.

[0209] Optionally, the value range of mp1 is (0, 0.5). The value range of np1 is (0, 0.5).

[0210] The value range of mp2 is (0.5, 1). The value range of np2 is (0.5, 1).

[0211] The value range of mp3 is (-0.5, 0). The value range of np3 is (-0.5, 0).

[0212] The value range of mp4 is (-1, -0.5). The value range of np4 is (-1, -0.5).

[0213] The computer-readable storage medium provided in this embodiment, when the computer program thereon is executed by a processor, determines the current operating stage according to the given speed V_given(0) of taking the upper-layer control right, and then determines the control force according to the speed difference and the current operating stage. Based on the control force, the speed of the superconducting linear motor is closed-loop controlled, realizing the closed-loop control of the speed of the superconducting linear motor based on the change of real-time parameters of the full-line operating state, and improving the adaptability to environmental changes.

[0214] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of the present application can be implemented in various computer languages. For example, object-oriented programming languages such as Java and interpreted scripting languages such as JavaScript.

[0215] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0216] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0217] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide for realizing the functions in Figure 1steps of one process or multiple processes and / or blocks Figure 1 steps of the functions specified in one block or multiple blocks.

[0218] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0219] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A speed closed-loop control method for a superconducting linear motor, characterized in that, The method includes: Obtaining the upper-layer control right given speed V_given(0) and the real-time speed V_fedback; Determining the speed difference △v = V_given(0) - V_fedback; Determining the current operation stage according to the V_given(0); Determining the control force according to the △v and the current operation stage; Performing closed-loop control on the speed of the superconducting linear motor based on the control force.

2. The method according to claim 1, characterized in that, The determining the current operation stage according to the V_given(0) includes: Obtaining the given speed V_given(k) of the subsequent k-th cycle; If [V_given(k) - V_given(0)] / [t(k) - t(0)] > a1, then determining the current operation stage as the acceleration stage, where a is a preset first threshold, t(k) is the time of the k-th cycle, and t(0) is the time when the upper-layer control right given speed V_given(0) is obtained; If [V_given(k) - V_given(0)] / [t(k) - t(0)] ≥ -a1 and [V_given(k) - V_given(0)] / [t(k) - t(0)] ≤ a1, then determining the current operation stage as the constant-speed stage; If [V_given(k) - V_given(0)] / [t(k) - t(0)] < -a1, then determining the current operation stage as the deceleration stage.

3. The method according to claim 2, wherein The a1 = 0.

05.

4. The method according to claim 2, characterized in that, The determining the control force according to the △v and the current operation stage includes: If △v ≥ a2 and △v ≤ Vd * a3, then determining the control force as PID(△v) + acc * mp1; where a2 is a preset second threshold, a3 is a preset third threshold, PID(△v) is the output of a proportional + integral + differential PID controller with △v as the input, acc is the current acceleration, mp1 is the first acceleration feedforward control coefficient, and Vd is the speed closed-loop control target; If △v > Vd * a3 and △v < Vd * a4, then determining the control force as PID(△v) + acc * mp1 + △v * np1; where a4 is a preset fourth threshold and np1 is the first speed difference control coefficient; If △v ≥ Vd * a4, then determining the control force according to the current operation stage; If △v ≤ a2 and △v ≥ -Vd * a3, then determining the control force as PID(△v) + acc * mp3; where mp3 is the third acceleration feedforward control coefficient; If △v > -Vd * a3 and △v < -Vd * a4, then determining the control force as PID(△v) + acc * mp3 + △v * np3; where np3 is the third speed difference control coefficient; If △v ≥ -Vd * a4, then determining the control force according to the current operation stage.

5. The method according to claim 4, wherein The determining the control force according to the current operation stage includes: If △v≥Vd*a4, when the current operation stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v)+acc*mp2+△v*np2; when the current operation stage is the constant speed stage, determine the control force as PID(△v)+acc*mp2+△v*△v*△v*np2; If △v≥-Vd*a4, when the current operation stage is the acceleration stage or the deceleration stage, determine the control force as PID(△v)+acc*mp4+△v*np4; when the current operation stage is the constant speed stage, determine the control force as PID(△v)+acc*mp4+△v*△v*△v*np4; Wherein, mp2 is the second acceleration feedforward control coefficient, np2 is the second speed difference control coefficient; mp4 is the fourth acceleration feedforward control coefficient, np4 is the fourth speed difference control coefficient.

6. The method according to claim 5, wherein a2 = 0; a3 = 1 / 6; a4 = 2 / 3.

7. The method according to claim 5, wherein The value range of mp1 is (0, 0.5); the value range of np1 is (0, 0.5); The value range of mp2 is (0.5, 1); the value range of np2 is (0.5, 1); The value range of mp3 is (-0.5, 0); the value range of np3 is (-0.5, 0); The value range of mp4 is (-1, -0.5); the value range of np4 is (-1, -0.5).

8. A superconducting linear motor speed closed-loop control device, characterized in that, The device includes: An acquisition module, configured to acquire the upper layer control right given speed V_given(0) and the real-time speed V_fedback; A first determination module, configured to determine the speed difference △v = V_given(0)-V_fedback; A second determination module, configured to determine the current operation stage according to the V_given(0); A third determination module, configured to determine the control force according to the △v determined by the first determination module and the current operation stage determined by the second determination module; A control module, configured to perform closed-loop control on the superconducting linear motor speed based on the control force determined by the third determination module.

9. An electronic device, characterized in that, Including: A memory; A processor; And A computer program; Wherein, the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon; the computer program is executed by the processor to implement the method according to any one of claims 1-7.

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