A magnetic levitation horizontal curve target-oriented gap reconstruction method, medium and device

Abstract

The application discloses a magnetic suspension flat curve target guiding gap reconstruction method, medium and equipment, and belongs to the field of magnetic suspension control system analysis. The method is based on actual coordinate measurement data of a track beam guiding surface, identifies a linear boundary point position, establishes a multi-parameter constraint reconstruction model with a circular curve radius and a transition curve internal displacement distance as core variables, iteratively fits a flat curve linear shape conforming to a specification and matching an actual position of a functional part guiding surface, calculates a horizontal deviation of each measurement point based on the linear shape, corrects a theoretical guiding gap based on the horizontal deviation, obtains a target guiding gap matching an actual deformation state of the track beam, and then optimizes a controller signal based on the target guiding gap. The application can fully compensate for defects in traditional control caused by a track beam "straight instead of curve" manufacturing process, so that the guiding target and an ideal running track are matched, and the running stability and ride comfort of a high-speed maglev vehicle when passing through a flat curve are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of maglev control system analysis, and more particularly, to a maglev flat curve target guide gap reconstruction method, medium and device, which can be used for signal optimization of high-speed maglev control system. BACKGROUND

[0002] When a high-speed maglev vehicle passes through a flat curve, its running stability is closely related to the control accuracy of the guide gap. The existing guide control system realizes smooth guidance by adjusting the gap between the vehicle and the guide surface of the track beam in real time (i.e., the guide gap). However, due to construction process and structural limitations, the track beam of the high-speed maglev flat curve section is usually arranged in a discrete manner by replacing curves with straight lines, resulting in the actual guide surface of the track beam not being a continuous and smooth ideal flat curve, but being composed of a series of small polyline segments. In this case, the guide gap measured directly with the actual guide surface of the track beam as the spatial reference cannot reflect the true relative position relationship required for the vehicle to run along the ideal smooth curve, thereby causing inherent deviations in the control signal. The existing control method usually calculates directly based on the measured gap, and fails to fundamentally correct the geometric reference error caused by replacing curves with straight lines in the track beam, resulting in the control system always tracking a target that does not match the ideal trajectory when the vehicle passes through the curve, limiting the further improvement of the running quality.

[0003] Therefore, there is a need to improve the prior art so as to be able to reconstruct a continuous flat curve linear according to the actual measurement data of the guide surface of the track beam, and generate a target guide gap consistent with the ideal running trajectory based on the reconstructed linear, thereby fundamentally improving the curve passing performance of the vehicle. SUMMARY

[0004] The present application aims to overcome the inherent deviations in the guide gap caused by directly taking the actual track beam with straight lines replacing curves as the guide control reference in the prior art, and to provide a maglev flat curve target guide gap reconstruction method, medium and device, which reconstructs the flat curve linear by fitting the guide surface measurement data, and further optimizes the high-speed maglev flat curve target guide gap reconstruction and control system signal optimization of the target guide gap.

[0005] According to a first aspect of the present application, a maglev flat curve target guide gap reconstruction method is provided. The method comprises the following steps:

[0006] Obtaining spatial coordinate measurement data of the guide surface of the maglev track beam, and determining the positions of the flat linear element division points according to the measurement data to obtain the initial mileages of the straight-to-bend points, bend-to-circle points, circle-to-bend points and bend-to-straight points;

[0007] Based on the initial mileage, the measured data is divided into different linear element sections, and a multi-parameter constrained clothoid reconstruction model is used to fit the measured data in each linear element section to obtain linear element design parameters that meet the set standard, and the boundary point mileage is updated;

[0008] Based on the updated boundary point mileage, the linear element sections are re-divided until the boundary point mileage meets the stability standard to obtain the optimized design parameters of the clothoid linearity;

[0009] Based on the optimized design parameters, the guide surface curve design linearity of the maglev track functional part is reconstructed, and the design linearity is compared with the measured data to obtain the target guide gap of each measuring point;

[0010] Based on the target guide gap, the output signal of the controller is optimized.

[0011] According to the second aspect of the present application, a computer readable storage medium is provided, which stores a computer program, wherein the computer program is executed by a processor to realize the steps of the above-mentioned maglev clothoid target guide gap reconstruction method.

[0012] According to the third aspect of the present application, a computer device is provided, which includes a memory and a processor, and the computer program capable of running on the processor is stored on the memory, wherein the processor executes the computer program to realize the steps of the above-mentioned maglev clothoid target guide gap reconstruction method.

[0013] Compared with the prior art, the advantages of the present application mainly lie in the following aspects:

[0014] 1) By fitting the discrete track beam guide surface measurement data into a continuous and smooth ideal clothoid curve, the geometric discontinuity caused by the "straight instead of curve" of the actual track beam is effectively overcome. The target guide gap calculated based on the reconstructed linearity can accurately reflect the true relative position relationship required for the vehicle to run along the smooth curve, thereby significantly improving the accuracy and consistency of the guide control signal, and providing a reliable signal reference for the stable and smooth operation of the vehicle in the clothoid curve section.

[0015] 2) The present application systematically integrates the actual deformation state of the track beam and the design specification of high-speed maglev transportation, automatically identifies the linearity boundary point from the measured data, and iteratively optimizes the design parameters under the multiple constraints of minimum curve radius, easement curve length and maximum guide gap, etc., to fully adapt to the deformation state of the track beam, so that the generated target guide gap has both engineering specification and actual rationality.

[0016] 3) The application provides a complete technical solution from linear reconstruction, gap calculation to control parameter optimization, forms a standardized target-oriented gap optimization method, which can be directly used to improve vehicle control performance and ride comfort, and has important engineering practical value and popularization prospect.

[0017] Other features of the application, its nature, and its advantages over the prior art will become apparent from the following detailed description of the preferred embodiment, along with the associated drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0019] Figure 1 is a flow chart of a magnetic levitation curve target-oriented gap reconstruction method according to an embodiment of the application;

[0020] Figure 2 is a schematic diagram of a high-speed magnetic levitation functional element guide surface curve design linear element demarcation point and various key parameters according to an embodiment of the application;

[0021] Figure 3 is a schematic diagram of the relationship between the reconstructed high-speed magnetic levitation functional element guide surface curve design linear and the track beam and the guide electromagnet according to an embodiment of the application. DETAILED DESCRIPTION

[0022] Various exemplary embodiments of the application will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these embodiments are not limiting to the scope of the application unless otherwise specifically stated.

[0023] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0024] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, where appropriate, such techniques, methods, and devices can be viewed as part of the specification.

[0025] In all of the examples shown and discussed herein, any specific values should be interpreted as merely illustrative and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0026] It should be noted that like reference numerals and letters refer to like items throughout the drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0027] Referring toFigure 1 As shown, the provided method for reconstructing the guide gap of a magnetic levitation horizontal curve target includes the following steps:

[0028] Step S1: Collect spatial coordinate measurement data of the maglev track beam guide surface, identify the approximate location of the dividing point of the planar linear element based on the measurement data, and obtain the initial mileage of the straight-to-slow point, the slow-to-round point, the round-to-slow point, and the slow-to-straight point.

[0029] Specifically, the east coordinate (X) and north coordinate (Y) data sequences are obtained based on the construction coordinate system of the high-speed maglev track beam. Since the actual track beam is a flat curve fitted by splicing multiple straight beam segments, the linear characteristics need to be quickly identified by the midpoint sag. For example, three equally spaced measurement coordinate points (or simply measurement points) are selected in the measurement data, and the midpoint sag is calculated according to formula (1). :

[0030] (1);

[0031] (2);

[0032] In the formula, i For measuring the coordinate point number, n w To measure the interval between coordinate points, Let i be the midpoint elevation. X i Let i be the east coordinate of point i. Y i Let i be the north coordinate of point i. Indicates by i- n w Point to i+ n w The azimuth of the point, is i+ n w The eastern coordinates of the point is i- n w The eastern coordinates of the point is i+ n w The north coordinates of the point is i- n w The north coordinates of the point.

[0033] Determine the approximate location of the boundary point of the planar linear element based on the midpoint sag calculation result: when the measuring point is located on a straight line segment, the midpoint sag... Fluctuating around 0; when the measuring point is located on a circular curve segment, the midpoint sag. The fluctuation around a constant value that is not equal to 0. The location where the fluctuation trend of the midpoint sag calculation result changes significantly is determined as the approximate location of the dividing point of the planar linear element, thereby determining the initial mileage of the straight-to-curve point (ZH), the curve-to-circle point (HY), the circle-to-curve point (YH), ​​and the curve-to-straight point (HZ).

[0034] Step S2: Based on the initial boundary point mileage, construct a multi-parameter constrained flat curve reconstruction model. By solving the objective function of the model, obtain the linear element design parameters that meet the maglev design requirements and guide gap constraints.

[0035] Specifically, the measurement data is first divided into a straight section, a transition curve section, a circular curve section, a transition curve section, and a straight section using the initial mileage. Then, the least squares method is used to fit the measured coordinate points within the straight sections to obtain the fitted line equations, and the coordinates of the intersection points are calculated. , and steering angle .

[0036] Subsequently, an optimization model was established with the objective function of minimizing the sum of squared deviations between the measured coordinate points and the circular curve. Key parameters are as follows: Figure 2 As shown. The objective function is transformed using only the forward and backward internal shifts. , and the radius of the fitted circular curve R The three variables represent:

[0037] (3);

[0038] In the formula, The number of measurement coordinate points contained in the circular curve segment; , () represents the coordinates of the i-th measuring point within the circular curve segment; , ) represents the coordinates of the fitted circle center, which are related to the coordinates of the midpoint of the curve. , and azimuth All can be achieved through variables , , It is derived from the known straight line parameters.

[0039] (4);

[0040] (5);

[0041] In the formula, .

[0042] when α QZ-JDWhen greater than 0° and less than 180°, the calculation formula is as follows:

[0043] (6);

[0044] When α QZ-JD When greater than or equal to 180°, the calculation formula is as follows:

[0045] (7);

[0046] In the formula (4) to formula (7), the north coordinate of the intersection point X JD , the east coordinate of the intersection point Y JD , the length of the front tangent T 1, the length of the rear tangent T 2, the front vertical distance of the tangent q 1, the rear vertical distance of the tangent q 2, the azimuth angle α ZH-JD , the tangent angle of the front transition curve β 1, the tangent angle of the rear transition curve β 2, and the turning angle α are constants under the determination conditions of the front and rear straight line segments, and only the front and rear internal displacement distances p 1, p 2 and the radius of the fitting circle curve are variables. R .

[0047] In an embodiment, the constraint conditions for solving the objective function (formula 3) include: a minimum circle curve radius constraint; a minimum transition curve length constraint; a minimum circle curve length constraint: a maximum guide gap constraint: to ensure that the deviation of the reconstructed alignment from the guide surface does not exceed the allowed value, i.e. .

[0048] For example, the minimum circle curve radius constraint is specifically:

[0049] (8);

[0050] The minimum transition curve length constraint is specifically:

[0051] (9);

[0052] The minimum circle curve length constraint is specifically:

[0053] (10);

[0054] The maximum guide gap constraint is specifically:

[0055] (11);​

[0056] wherein, represents the length of the front transition curve, represents the length of the rear transition curve, represents the minimum length of the transition curve. Formula (11) represents that the deviation of the reconstructed linear and the guide surface is not more than the allowed value .

[0057] In one embodiment, the above model can be solved by using a ternary nonlinear programming to obtain the optimal combination coefficients ( , , ), and then the design parameters of the fitting circular curve are calculated, and the updated straight transition point, transition point, transition point, and circular transition point mileage are calculated.

[0058] (12);

[0059] wherein, M ZH is the straight transition point mileage, M HY is the transition point mileage, M YH is the circular transition point mileage, M HZ transition point mileage; X ZH , Y ZH is the east coordinate and north coordinate of the straight transition point, X QD , Y QD is the east coordinate and north coordinate of the starting point; is the length of the circular curve.

[0060] Step S3, based on the updated demarcation point mileage, re-divide the linear element section, and repeat step S2 until the demarcation point mileage meets the stability standard, to obtain the final design parameters of the horizontal curve linear.

[0061] Specifically, step S3 includes an iterative optimization process. The new demarcation point mileage calculated in step S2 is taken as the input of the next round of iteration, the measured data section is re-divided, and the multi-parameter constraint model is solved again. When the difference between the demarcation point mileages calculated by two consecutive iterations is less than a preset threshold, it is considered that the result converges, and the parameters obtained at this time are the final design parameters of the horizontal curve linear.

[0062] Step S4, based on the final design parameters of the reconstructed maglev functional part guide surface curve design linear, the horizontal deviation amount of the measured data and the design linear is calculated, and then the target guide gap matching the actual deformation state of the track beam is obtained.

[0063] Specifically, step S4 comprises:

[0064] First, the horizontal deviation amount of each measuring point is calculated :

[0065] (1) Straight line segment: the horizontal deviation amount is calculated by using the point-to-line distance formula;

[0066] (2) Circular curve segment: the calculation formula is as follows:

[0067] (13);

[0068] (3) Transition curve segment: the measurement coordinates are converted from the track beam integral coordinate system to the transition curve independent coordinate system, and the corresponding coordinate point on the curve is found along the tangent vertical direction of the transition curve with the measurement coordinate point as the starting point. The Euclidean distance between the two points is calculated, that is, the Euclidean distance formula is used to solve the distance between the two points as the horizontal deviation amount of the measurement coordinate point.

[0069] Taking the transition curve segment as an example, the corresponding coordinate point of the measurement coordinate point on the transition curve is:

[0070] (14);

[0071] In the formula, and represent the horizontal and vertical coordinates of the measurement coordinate point i in the transition curve independent coordinate system, represents the total length of the transition curve, l i is the curve length from the corresponding coordinate point of the measurement coordinate point i on the transition curve to the tangent point or the tangent point.

[0072] In the forward direction of the line, when the measurement coordinate point is on the left side of the line, the horizontal deviation amount is negative, and when it is on the right side, it is positive.

[0073] Finally, the theoretical guide gap is subtracted from the horizontal deviation amount to obtain the reconstructed target guide gap :

[0074] (15);

[0075] wherein, is a unified representation of the horizontal deviation amount of the measuring point i.

[0076] The target guide gap can reflect the true relative position relationship required for the vehicle to run along the ideal smooth curve. The relationship between the curve design line of the high-speed magnetic suspension functional element guide surface and the track beam and the guide electromagnet is as followsFigure 3 as shown.

[0077] Step S5, based on the reconstructed target guide clearance optimization controller signal, the running stability control of the maglev vehicle through the horizontal curve is realized.

[0078] Specifically, step S5 includes: the target guide clearance of each measuring point calculated in step S4 is taken as the tracking target value of the guide control system. Real-time acquisition of vehicle guide clearance sensor data , the control deviation between the measured value and the target guide clearance is calculated , and the PID control law is used to calculate the controller output instruction , that is, the optimized controller signal, and the specific calculation formula is as follows:

[0079] (16);

[0080] In the formula, is the measured data of the guide clearance sensor at time t; is the target guide clearance corresponding to the position; , , The proportional coefficient, integral coefficient and differential coefficient of the guide controller are respectively.

[0081] Through step S5, the control system can effectively eliminate the defects that the guide target does not match the ideal running track caused by the track beam "straight instead of curve" manufacturing process, and improve the curve passing performance of the vehicle.

[0082] In summary, the actual coordinate measurement data of the track beam guide surface is used as the basis, the linear demarcation point position is identified, and a multi-parameter constraint reconstruction model taking the circular curve radius and the inner displacement of the easement curve as the core variables is established, the horizontal curve linear that conforms to the specification and fits the actual position of the functional part guide surface is iteratively fitted; the horizontal deviation of each measuring point is calculated based on the linear, and the theoretical guide clearance is corrected accordingly to obtain the target guide clearance matched with the actual deformation state of the track beam, and finally the controller parameters are optimized based on the target guide clearance. The present application can make up for the defects that the guide target does not match the ideal running track caused by the track beam "straight instead of curve" manufacturing process in the traditional control, and can effectively improve the running stability and ride comfort of the high-speed maglev vehicle when passing through the horizontal curve.

[0083] The present application can be a system, a method and / or a computer program product. The computer program product can include a computer readable storage medium having computer readable program instructions embodied therewith, which instructions are used to program processors to implement aspects of the present application.

[0084] A computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0085] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0086] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0087] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0088] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or nonvolatile memory, or a suitable combination of the different types of computer readable storage media. The computer readable program instructions can also be downloaded to a computer, other programmable data processing apparatus, or other device from a computer readable storage medium or to an external computer or external storage device via a data signal that can be transmitted for example via a wired medium or a wireless medium such as the Internet or Wireless Application Protocol (WAP) signaling.

[0089] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0090] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0091] Embodiments of the present application have been described above, and the description is intended to be illustrative, and not restrictive, of the disclosed embodiments. Many modifications and variations of the disclosed embodiments are possible in light of the above teachings. It is therefore to be understood that within the scope of the disclosed embodiments, modifications and variations of the disclosed embodiments can be practiced. It is also to be understood that the specific order or hierarchy of steps in the processes disclosed is an illustration of exemplary processes. Based upon the description and illustrations provided herein, those skilled in the art will understand that changes can be made to the order of steps in the processes and that many of the individual steps can be modified or eliminated. Additionally, the description and illustrations provided herein are not meant to limit the scope of the disclosed embodiments. The scope of the disclosed embodiments is limited only by the claims.

Claims

1. A magnetic levitation curve target-guided gap reconstruction method, characterized in that, The method comprises the following steps: obtaining spatial coordinate measurement data of a guide surface of a maglev track beam, and determining positions of division points of planar linear elements according to the measurement data to obtain initial mileages of straight-gradual points, gradual-circular points, circular-gradual points and gradual-straight points; based on the initial mileages, dividing the measurement data into different linear element sections, and using a multi-parameter constrained planar curve reconstruction model to fit the measurement data in each linear element section to obtain linear element design parameters meeting a set standard, and updating the mileages of the division points; based on the updated mileages of the division points, re-dividing the linear element sections until the mileages of the division points meet a stability standard to obtain optimized design parameters of the planar curve linear elements; based on the optimized design parameters, reconstructing a design linear element of the guide surface curve of the maglev track function part, and comparing the design linear element with the measurement data to obtain target guide clearances of each measurement point; based on the target guide clearances, optimizing output signals of a controller.

2. The method of claim 1, wherein, The measurement data is east coordinates and north coordinates based on a maglev track beam construction coordinate system, and the planar linear elements include straight lines, circular curves and gradual curves.

3. The method of claim 1, wherein, The different linear element sections are obtained according to the following steps: for the case that both the start point and the end point are located on a straight line, a front straight line section is between the start point and a straight-gradual point, a front gradual curve section is between the straight-gradual point and a gradual-circular point, a circular curve section is between the gradual-circular point and a circular-gradual point, a rear gradual curve section is between the circular-gradual point and a gradual-straight point, and a rear straight line section is between the gradual-straight point and the end point.

4. The method of claim 1, wherein, The objective function of the multi-parameter constrained planar curve reconstruction model is set as: wherein, p 1 and p 2 are the front and rear inner shift distances, respectively, R is the fitted circle curve radius, is the number of survey points contained in the circle curve segment, , are the coordinates of the i-th survey point in the circle curve segment, , are the fitted circle center coordinates, , is the midpoint coordinate, is the midpoint azimuth.

5. The method of claim 4, wherein, a ternary nonlinear programming is used to solve the objective function, and the constraint conditions for solving the objective function include a minimum circular curve radius constraint, a minimum gradual curve length constraint, a minimum circular curve length constraint and a maximum guide clearance constraint.

6. The method of claim 1, wherein, The target guide clearance is a clearance between a maglev vehicle guide electromagnet and a guide surface of a track beam function part.

7. The method of claim 6, wherein, The target guide clearance is obtained according to the following steps: The horizontal deviation amount of the calculation point i The horizontal deviation amount of the calculation point Wherein, along the direction of the magnetic levitation line, when the calculation point is on the left side of the line, the horizontal deviation amount is negative, and when the calculation point is on the right side of the line, the horizontal deviation amount is positive. The target-oriented gap is calculated according to the following formula : wherein, is the target oriented gap, is the theoretical oriented gap.

8. The method of claim 1, wherein, The output signal of the controller is expressed as: wherein, is an output instruction of the controller at the time t, t is an output instruction of the controller at the time t, is a measured data of the gap sensor at the time t, t is a target gap at the corresponding position, is a target gap at the corresponding position, , , are a proportional coefficient, an integral coefficient, and a differential coefficient of the controller, respectively.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the method according to any one of claims 1 to 8.

10. A computer device comprising a memory and a processor, having stored on the memory a computer program capable of running on the processor, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 8.

Images