Magnetic suspension self-adaptive positioning regulation and control system and method

Abstract

The invention relates to the technical field of magnetic suspension operation position and attitude control, and discloses a magnetic suspension self-adaptive positioning regulation and control system and a magnetic suspension self-adaptive positioning regulation and control method. According to the real-time running track characteristic information of the maglev train and in combination with the maglev control management platform, carrying out dynamic updating search on a vertical gap threshold value and a transverse offset threshold value of a maglev positioning point at different time points of the running track of the maglev train; the vertical gap threshold value and the transverse offset threshold value of the magnetic suspension track are dynamically updated in real time based on the operation condition of the magnetic suspension track; the vertical gap threshold value and the transverse offset threshold value of each magnetic suspension positioning point are intelligently and finely analyzed based on the coordinates of the positioning points of the magnetic suspension train; the magnetic suspension control management platform is used for rapidly and reliably controlling the suspension electromagnets and the guide electromagnets to execute magnetic suspension positioning operation of the positioning points of the magnetic suspension train, and the response rate and safety of magnetic suspension positioning of the magnetic suspension train are improved.

Description

Technical Field

[0001] This invention relates to the technical field of magnetic levitation operation position and attitude control, specifically to a magnetic levitation adaptive positioning and control system and method. Background Technology

[0002] Magnetic levitation technology, also known as EML or EMS technology, refers to a technology that uses magnetic force to overcome gravity and levitate objects. There are various forms of magnetic levitation technology, which can be mainly divided into passive levitation where the system is self-stabilized and active levitation where the system is not self-stabilized. Maglev trains are a new type of transportation consisting of a contactless magnetic support, magnetic guidance, and linear drive system. They mainly include superconducting electric maglev trains, conventional electromagnetic attraction high-speed maglev trains, and conventional electromagnetic attraction medium- and low-speed maglev trains. Maglev trains are a new type of transportation that achieves contactless levitation and guidance through electromagnetic force and is traction-driven by linear motors. Maglev positioning involves using non-contact sensors (such as eddy current, optical, and capacitive sensors) in the maglev system to detect the vertical clearance and lateral offset of the maglev train body relative to the track in real time and with high precision, generating precise electromagnetic force to maintain the stable levitation of the maglev train and the track. However, existing maglev positioning adjustments for the vertical clearance and lateral offset of maglev trains relative to the track cannot achieve adaptive scientific control of the maglev train's position relative to the track based on the spatial position of the maglev train and the track state, thus reducing the accuracy and safety of the maglev positioning.

[0003] Chinese invention patent application CN116795134A, published on September 22, 2023, discloses a magnetic levitation track tracking and detection system and method based on an unmanned aerial vehicle (UAV) platform. The system comprises a positioning and mapping module, a laser ranging module, a track tracking control module, a track tracking detection module, and PX4 firmware. The positioning and mapping module creates an occupancy grid map containing track information. The laser ranging module calculates the offset distance between the matrix array and the track being tracked within the occupancy grid map. The track tracking control module designs roll expectation values, heading expectation values, and altitude expectation values, which are input into the UAV via the PX4 firmware to complete track tracking control. The track detection module performs real-time track detection on track images captured by the UAV during track tracking based on a track detection model. However, this technical solution cannot achieve adaptive magnetic levitation position adjustment for vertical clearance and lateral offset between the magnetic levitation train and the track. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the existing problems of insufficient vertical clearance and lateral offset adjustment between maglev trains and tracks, which prevent adaptive and scientific control of the maglev train's maglev position based on its spatial location and track condition, thus reducing the accuracy and safety of maglev positioning, this new method aims to achieve the following: real-time acquisition of the maglev train's positioning point location; real-time acquisition of the vertical clearance and lateral offset values ​​of the maglev train's positioning point; dynamic updating of the vertical clearance and lateral offset thresholds of the track's maglev positioning point; intelligent real-time analysis of the vertical clearance and lateral offset thresholds of the maglev train's positioning point; dynamic calculation of the vertical clearance and lateral offset differences of the maglev train's positioning point; adaptive and precise adjustment of the vertical clearance and lateral offset between the maglev train and track; and ultimately, improved accuracy and reliability of maglev positioning.

[0006] (II) Technical Solution

[0007] This invention is achieved through the following technical solution: a magnetic levitation adaptive positioning control method, the method comprising the following steps:

[0008] S1. Collect real-time driving position information of the maglev train positioning points, real-time track feature information of the maglev train, real-time vertical clearance value of the maglev train positioning points, and real-time lateral offset value of the maglev train positioning points; based on the real-time track information of the maglev train, search and process the position, vertical clearance threshold, and lateral offset threshold of different maglev positioning points on the track, and generate real-time track maglev positioning point position vertical clearance threshold combination information and real-time track maglev positioning point position lateral offset threshold combination information respectively.

[0009] S2. Match the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point to generate the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point respectively; calculate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point to generate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point respectively.

[0010] S3. Construct the magnetic levitation positioning parameters for the magnetic levitation positioning point and execute the magnetic levitation positioning operation for the magnetic levitation train positioning point.

[0011] Preferably, the following steps are taken to collect real-time travel position information of the maglev train positioning points, real-time track feature information of the maglev train, real-time vertical clearance value of the maglev train positioning points, and real-time lateral offset value of the maglev train positioning points; based on the real-time track information of the maglev train, the steps to search and process the positions, vertical clearance thresholds, and lateral offset thresholds of different maglev positioning points on the track to generate real-time track maglev positioning point position vertical clearance threshold combination information and real-time track maglev positioning point position lateral offset threshold combination information are as follows:

[0012] S11. Real-time spatial coordinate information of the magnetic levitation balance positioning points of the target maglev train body and the target track is collected online using position sensors, and a set of real-time driving position information of the maglev train positioning points is generated. ,in Indicates the first Real-time driving location information of each maglev train positioning point, including the longitude, latitude, and altitude of the maglev train positioning point;

[0013] The magnetic levitation control and management platform collects the target track number, name, and current time text information of the target magnetic levitation train in real time online, and generates the real-time track feature information of the magnetic levitation train.

[0014] S12. Based on the real-time driving position information set of the maglev train positioning point, the vertical gap and lateral offset between the maglev train positioning point and the driving track are collected and processed to generate the real-time vertical gap value set and the real-time lateral offset value set of the maglev train positioning point, respectively.

[0015] S13. Based on the real-time track feature information of the maglev train, perform search processing on the position, vertical gap threshold and lateral offset threshold of different maglev positioning points on the track, and generate real-time track maglev positioning point position vertical gap threshold combination information matrix and real-time track maglev positioning point position lateral offset threshold combination information matrix respectively.

[0016] Preferably, the steps for collecting and processing the vertical clearance and lateral offset between the maglev train positioning point and the running track based on the real-time driving position information set of the maglev train positioning point, and generating the real-time vertical clearance value set and the real-time lateral offset value set of the maglev train positioning point respectively, are as follows:

[0017] S121. Based on the real-time driving position information set of the magnetic levitation train positioning point using non-contact sensors. The real-time driving position information of the maglev train positioning point described in the article The vertical clearance and lateral offset values ​​between the positioning points of the maglev train and the running track are collected online, and a real-time vertical clearance value set of the maglev train positioning points is generated. Real-time lateral offset value set of maglev train positioning points ,in , Indicates the first Real-time vertical clearance value of each maglev train positioning point; , Indicates the first The real-time lateral offset value of the maglev train positioning point corresponds to a positioning point of the maglev train. The real-time vertical gap value of the maglev train positioning point represents the real-time distance data between the maglev train positioning point and the upper or lower surface of the track in the vertical direction. The real-time lateral offset value of the maglev train positioning point represents the real-time distance data between the maglev train positioning point and the outer side of the track in the direction of the track. The units of the real-time vertical gap value and the real-time lateral offset value of the maglev train positioning point are both centimeters. The non-contact sensor includes any one of eddy current sensor, inductive sensor and Hall effect sensor.

[0018] Preferably, the steps for searching and processing the positions, vertical clearance thresholds, and lateral offset thresholds of different magnetic levitation positioning points on the running track based on the real-time track feature information of the magnetic levitation train, and generating real-time track magnetic levitation positioning point position vertical clearance threshold combination information matrix and real-time track magnetic levitation positioning point position lateral offset threshold combination information matrix are as follows:

[0019] S131. Obtain the real-time track feature information of the maglev train;

[0020] S132. Input the track number, name, and current time information corresponding to the real-time track feature information of the maglev train into the data acquisition dialog box of the maglev control and management platform online. The maglev control and management platform searches online for the position coordinates, vertical clearance threshold, and lateral offset threshold of different maglev positioning points on the real-time track of the maglev train, and generates a matrix of real-time track maglev positioning point position and vertical clearance threshold combination information. Combined with the information matrix of the real-time track magnetic levitation positioning point lateral offset threshold ,in , Indicates the current number Real-time vertical clearance threshold combination information for each track magnetic levitation positioning point; the real-time vertical clearance threshold combination information represents the combination information of the position coordinates of different magnetic levitation positioning points on the running track and the vertical clearance safety value of that position, which is collected in real time based on the characteristics of the magnetic levitation train running track object and the running time; wherein the position coordinates of different magnetic levitation positioning points include the longitude, latitude and altitude of the magnetic levitation positioning point; wherein the vertical clearance safety value represents the optimal safe vertical clearance value determined based on the static shape and size parameters of the running track and the dynamic vertical deformation parameters of the track monitored in real time by the track detection equipment; , Indicates the current number Real-time lateral offset threshold combination information for each track magnetic levitation positioning point; the real-time lateral offset threshold combination information represents the combination information of the position coordinates of different magnetic levitation positioning points on the running track collected in real time based on the characteristics of the magnetic levitation train running track object and the running time, and the lateral offset safety value of that position; wherein the lateral offset safety value represents the optimal safe lateral offset value determined based on the static shape and size parameters of the running track and the dynamic lateral deformation parameters of the track monitored in real time by the track detection equipment; wherein the units of the lateral offset safety value and the vertical clearance safety value are both centimeters.

[0021] Preferably, the following steps are taken to match the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point to generate the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point, respectively; and to calculate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point to generate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point, respectively:

[0022] S21. Based on the real-time driving position information set of the maglev train positioning point, the information matrix of the combination of the real-time vertical gap threshold of the track maglev positioning point, and the information matrix of the combination of the real-time horizontal offset threshold of the track maglev positioning point, perform matching processing of the real-time vertical gap threshold and the real-time horizontal offset threshold of the maglev train positioning point to generate the real-time vertical gap threshold set and the real-time horizontal offset threshold set of the maglev train positioning point, respectively.

[0023] S22. Based on the real-time vertical clearance value set, the real-time lateral offset value set, the real-time vertical clearance threshold set, and the real-time lateral offset threshold set of the maglev train positioning points, calculate and process the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning points to generate the real-time vertical clearance difference set and the real-time lateral offset difference set of the maglev train positioning points, respectively.

[0024] Preferably, the steps for performing real-time vertical clearance threshold and real-time lateral offset threshold matching processing on the maglev train positioning point based on the real-time driving position information set of the maglev train positioning point, the real-time vertical clearance threshold combination information matrix of the maglev train positioning point, and the real-time lateral offset threshold combination information matrix of the maglev train positioning point, to generate the real-time vertical clearance threshold set and the real-time lateral offset threshold set of the maglev train positioning point, are as follows:

[0025] S211, Invoke the real-time driving position information set of the maglev train positioning point. The real-time track magnetic levitation positioning point vertical gap threshold combination information matrix The information matrix combining the real-time track magnetic levitation positioning point lateral offset threshold ;

[0026] S212, Set the real-time driving position information of the maglev train positioning point The real-time driving position information of the maglev train positioning point described in the article An information matrix is ​​created by sequentially combining the magnetic levitation train positioning point numbers with the vertical gap threshold of the real-time track magnetic levitation positioning point positions. The real-time track magnetic levitation positioning point vertical gap threshold combination information described in the document The system performs coordinate matching of positioning points to search for the real-time travel position information of the maglev train relative to the positioning points. Matching information on the vertical gap threshold combination of the real-time track magnetic levitation positioning point position. The corresponding vertical clearance threshold information is used to generate a real-time vertical clearance threshold set for the positioning points of the maglev train after data identification. Execute the generation of the real-time vertical gap threshold set for the positioning points of the maglev train. The operation steps are as follows:

[0027] S2121. Determine the cluster boundary range and set the vertical gap threshold. The location range selected during the search for Emperor Penguins huddling for warmth is defined by the vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. In the search space, during the aggregation process, the emperor penguin with vertical gap threshold search is adjacent to two or more emperor penguins with vertical gap threshold search, and the selection of neighboring emperor penguins with vertical gap threshold search is random; the boundary of the emperor penguin cluster range is defined by the vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. In the search space, the boundary of the entire cluster is represented by the gradient of the wind around the vertical gap threshold during the search of the emperor penguin cluster. Here, wind speed is defined as... and gradient , Vertical gap threshold search for Emperor Penguin cluster boundaries ,in , ; Indicates wind speed The horizontal gradient, Indicates wind speed The vertical gradient, Indicates wind speed The horizontal gradient change;

[0028] S2122, Calculate the vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The search space is defined by the vertical gap threshold, which is used to search for the temperature around the emperor penguin colony. If the current vertical gap threshold is used to search for the emperor penguin cluster radius... When ≥0.5, its temperature =0; when When <0.5, its temperature =1, temperature taper curve The calculation formula is as follows: ,in The maximum number of iterations, The current iteration number, temperature expression ;

[0029] S2123, Vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The vertical gap threshold is calculated in the search space to search for the distance between emperor penguins, and the vertical gap threshold combination information matrix is ​​used at the real-time track magnetic levitation positioning point. The search space was used to find the real-time driving position information of the maglev train's positioning point. Matching information on the vertical gap threshold combination of the real-time track magnetic levitation positioning point position. The distance between emperor penguins within the cluster is represented as the distance between the individual emperor penguin searched for the vertical gap threshold and the emperor penguin at the center of the cluster. The formula for the distance within the emperor penguin cluster searched for the vertical gap threshold is as follows: ,in This represents the distance between the individual emperor penguin in the vertical gap threshold search and the central emperor penguin in the vertical gap threshold search cluster. and The influence vector factor used for vertical gap threshold search of Emperor Penguin volume setting Indicates the first After the next iteration, the vertical gap threshold search is performed on the Emperor Penguin's vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The search space was used to find the real-time driving position information of the maglev train's positioning point. The most matching combination of vertical gap threshold information for the real-time track magnetic levitation positioning point. The optimal position, Indicates the first After the next iteration, the vertical gap threshold search is performed on the Emperor Penguin's vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The position in the search space; Define the vertical gap threshold to search the main social status of emperor penguins, responsible for distinguishing the best individuals from ordinary individuals;

[0030] S2124. Vertical gap threshold search: Emperor Penguin's vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The position is updated in the search space. Individuals in the emperor penguin colony update their position information by moving towards the emperor penguin at the center of the colony, thereby creating a vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The search space was used to find the real-time driving position information of the maglev train's positioning point. Matching information on the vertical gap threshold combination of the real-time track magnetic levitation positioning point position. The vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point location. The position is updated by moving towards the center of the Emperor Penguin cluster in the search space according to the vertical gap threshold. The position update formula is as follows: ,in, Indicates the first After +1 iteration, the vertical gap threshold search finds the combined information matrix of vertical gap thresholds at the Emperor Penguin's real-time track magnetic levitation positioning point. The position in the search space;

[0031] S2125. When the maximum number of iterations is met, output the real-time driving position information of the maglev train positioning point. Matching information on the vertical gap threshold combination of the real-time track magnetic levitation positioning point position. The corresponding vertical clearance threshold information is used to generate a real-time vertical clearance threshold set for the positioning points of the maglev train after data identification. ,in Indicates the first The real-time vertical gap threshold of the magnetic levitation train positioning point corresponds to a magnetic levitation train positioning point; the unit of the real-time vertical gap threshold of the magnetic levitation train positioning point is centimeters;

[0032] Simultaneously, the artificial intelligence search algorithm in step S212 is used to collect the real-time driving position information of the maglev train positioning point. The real-time driving position information of the maglev train positioning point described in the article An information matrix is ​​created by combining the maglev train positioning point numbers in an orderly manner with the real-time track maglev positioning point lateral offset threshold. The information on the combination of lateral offset thresholds of the real-time track magnetic levitation positioning point described in the document The system performs coordinate matching of positioning points to search for the real-time travel position information of the maglev train relative to the positioning points. Matching information on the lateral offset threshold of the real-time track magnetic levitation positioning point The corresponding lateral offset threshold information is used to generate a real-time lateral offset threshold set for the positioning points of the maglev train after data identification. ,in Indicates the first The real-time lateral offset threshold of the maglev train positioning point corresponds to a positioning point of the maglev train; the unit of the real-time lateral offset threshold of the maglev train positioning point is centimeters.

[0033] Preferably, the steps for calculating the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning points based on the real-time vertical clearance value set, the real-time lateral offset value set, the real-time vertical clearance threshold set, and the real-time lateral offset threshold set of the maglev train positioning points, and generating the real-time vertical clearance difference set and the real-time lateral offset difference set of the maglev train positioning points are as follows:

[0034] S221. Obtain the real-time vertical clearance value set of the positioning point of the maglev train. The real-time lateral offset value set of the positioning point of the maglev train The real-time vertical gap threshold set of the positioning points of the maglev train and the real-time lateral offset threshold set of the maglev train positioning point ;

[0035] S222, Set the real-time vertical gap threshold set of the magnetic levitation train positioning points. The real-time vertical gap threshold of the positioning point of the maglev train described in the article The maglev train positioning points are ordered according to their numbers and the real-time vertical gap values ​​of those positioning points. The real-time vertical clearance value of the positioning point of the maglev train described in the article The difference between the real-time vertical clearance threshold and the real-time vertical clearance value of the positioning point of the maglev train is calculated, and the set of real-time vertical clearance difference values ​​of the positioning point of the maglev train is statistically obtained. ,in Indicates the first Real-time vertical clearance difference between each positioning point of the maglev train. The The values ​​can include positive, zero, and negative values; when When the value is positive, it indicates that the current number is [number]. The real-time vertical clearance at each positioning point of the maglev train is less than the safe value for vertical clearance, and needs to be adjusted accordingly. Increase vertical clearance; when When the value is zero, it indicates that the current number is zero. The real-time vertical clearance of each positioning point of the maglev train is equal to the vertical clearance safety value; when When the value is negative, it indicates that the current number is _____. The real-time vertical clearance at each positioning point of the maglev train is greater than the safe value for vertical clearance, and needs to be addressed according to... Reduce vertical clearance; the unit of the real-time vertical clearance difference of the magnetic levitation train positioning point is centimeters;

[0036] The real-time lateral offset threshold set of the positioning point of the maglev train will be synchronized. The real-time lateral offset threshold of the positioning point of the maglev train mentioned in the article According to the maglev train positioning point number, and the real-time lateral offset value set of the maglev train positioning point. The real-time lateral offset value of the positioning point of the maglev train described in the article The difference between the real-time lateral offset threshold and the real-time lateral offset value of the maglev train positioning point is calculated, and a set of real-time lateral offset difference values ​​of the maglev train positioning point is obtained. ,in Indicates the first Real-time lateral offset difference between the positioning points of each maglev train. The The values ​​can include positive, zero, and negative values; when When the value is positive, it indicates that the current number is [number]. The real-time lateral offset of each maglev train positioning point is less than the lateral offset safety value, and needs to be in accordance with... Increase lateral offset; when When the value is zero, it indicates that the current number is zero. The real-time lateral offset of a maglev train's positioning point equals the lateral offset safety value; when When the value is negative, it indicates that the current number is _____. The real-time lateral offset of the positioning point of the maglev train is greater than the lateral offset safety value, and needs to be handled according to... Reduce lateral offset; the unit of the real-time lateral offset difference of the positioning point of the magnetic levitation train is centimeters.

[0037] Preferably, the steps for constructing the magnetic levitation positioning parameters of the magnetic levitation positioning point and performing the magnetic levitation positioning operation of the magnetic levitation train positioning point are as follows:

[0038] S31. Set the real-time vertical clearance difference value of the positioning point of the maglev train. The real-time lateral offset difference set of the positioning point of the maglev train The magnetic levitation positioning parameters of the magnetic levitation positioning point are generated by combining data identifiers.

[0039] S32, The magnetic levitation control and management platform is based on the real-time vertical clearance difference set of the magnetic levitation train positioning point within the magnetic levitation positioning parameters of the magnetic levitation positioning point. The real-time vertical clearance difference of the positioning point of the maglev train described in the article The real-time lateral offset difference set of the positioning point of the maglev train The real-time lateral offset difference of the positioning point of the maglev train described in the article The levitation electromagnets and guide electromagnets of the maglev train are controlled separately to adjust the vertical gap and lateral offset between the maglev train and the track, and to perform maglev positioning operations at the positioning points of the maglev train.

[0040] A magnetic levitation adaptive positioning and control system is used to implement the magnetic levitation adaptive positioning and control method. The system includes a magnetic levitation positioning adjustment parameter collection module, a magnetic levitation positioning adjustment parameter analysis module, and a magnetic levitation positioning control module.

[0041] The magnetic levitation positioning adjustment parameter collection module includes a magnetic levitation train positioning point travel position acquisition unit, a magnetic levitation train travel track characteristic information acquisition unit, a magnetic levitation train positioning point vertical gap acquisition unit, a magnetic levitation train positioning point lateral offset acquisition unit, a track magnetic levitation positioning point position vertical gap threshold combination information search unit, and a track magnetic levitation positioning point position lateral offset threshold combination information search unit.

[0042] The maglev train positioning point travel position acquisition unit collects real-time travel position information of the maglev train positioning point through position sensors; the maglev train track feature information acquisition unit collects real-time track feature information of the maglev train through the maglev control and management platform; the maglev train positioning point vertical clearance acquisition unit, based on the real-time travel position information of the maglev train positioning point and in conjunction with non-contact sensors, processes the vertical clearance between the maglev train positioning point and the track to generate a real-time vertical clearance value for the maglev train positioning point; the maglev train positioning point lateral offset acquisition unit, based on the real-time travel position information of the maglev train positioning point and in conjunction with non-contact sensors, processes the vertical clearance between the maglev train positioning point and the track to generate a real-time vertical clearance value for the maglev train positioning point; and the maglev train positioning point lateral offset acquisition unit, based on the real-time travel position information of the maglev train positioning point and in conjunction with non-contact sensors, processes the lateral offset between the maglev train positioning point and the track. The system performs offset acquisition and processing to generate real-time lateral offset values ​​for the maglev train positioning points. The track maglev positioning point vertical clearance threshold combination information search unit searches for the positions and vertical clearance thresholds of different maglev positioning points on the track based on the real-time track characteristics of the maglev train and the maglev control and management platform, generating real-time track maglev positioning point vertical clearance threshold combination information. The track maglev positioning point lateral offset threshold combination information search unit searches for the positions and lateral offset thresholds of different maglev positioning points on the track based on the real-time track characteristics of the maglev train and the maglev control and management platform, generating real-time track maglev positioning point lateral offset threshold combination information.

[0043] The magnetic levitation positioning adjustment parameter analysis module includes a magnetic levitation train positioning point vertical gap threshold analysis unit, a magnetic levitation train positioning point lateral offset threshold analysis unit, a magnetic levitation train positioning point vertical gap difference calculation unit, and a magnetic levitation train positioning point lateral offset difference calculation unit.

[0044] The vertical clearance threshold analysis unit for the maglev train positioning point performs real-time vertical clearance threshold matching processing based on the real-time driving position information of the maglev train positioning point and the combined information of the real-time track maglev positioning point position vertical clearance threshold, generating a real-time vertical clearance threshold for the maglev train positioning point. The lateral offset threshold analysis unit for the maglev train positioning point performs real-time lateral offset threshold matching processing based on the combined information matrix of the real-time driving position information of the maglev train positioning point and the combined information matrix of the real-time track maglev positioning point position lateral offset threshold, generating a real-time vertical clearance threshold for the maglev train positioning point. The lateral offset threshold is used for calculating the real-time vertical clearance difference of the maglev train positioning point. The maglev train positioning point vertical clearance difference calculation unit calculates the real-time vertical clearance difference of the maglev train positioning point based on the real-time vertical clearance value and the real-time vertical clearance threshold, generating a real-time vertical clearance difference value for the maglev train positioning point. The lateral offset difference calculation unit calculates the real-time lateral offset difference of the maglev train positioning point based on the real-time lateral offset value and the real-time lateral offset threshold, generating a real-time lateral offset difference value for the maglev train positioning point.

[0045] The magnetic levitation positioning control module includes a magnetic levitation positioning parameter construction unit for magnetic levitation train positioning points and a magnetic levitation positioning operation execution unit for magnetic levitation train positioning points.

[0046] The magnetic levitation positioning parameter construction unit for the magnetic levitation train positioning point constructs magnetic levitation positioning parameters based on the real-time vertical clearance difference and the real-time lateral offset difference of the magnetic levitation train positioning point through data processing. The magnetic levitation positioning operation execution unit for the magnetic levitation train positioning point executes the magnetic levitation positioning operation based on the magnetic levitation positioning parameters and in conjunction with the magnetic levitation control and management platform, controlling the levitation electromagnets and guide electromagnets.

[0047] (III) Beneficial Effects

[0048] This invention provides a magnetic levitation adaptive positioning and control system and method. It has the following beneficial effects:

[0049] I. By using position sensors, a magnetic levitation control and management platform, and non-contact sensors, the real-time position, vertical clearance, lateral offset, and track information of the magnetic levitation positioning points of the magnetic levitation train are dynamically monitored, providing real data support for precise adjustment of the magnetic levitation position during the magnetic levitation train's operation. Based on the real-time track characteristics of the magnetic levitation train and in conjunction with the magnetic levitation control and management platform, the vertical clearance threshold and lateral offset threshold of the magnetic levitation positioning points at different time points on the magnetic levitation train's track are dynamically updated and searched. This enables real-time updates of the vertical clearance threshold and lateral offset threshold of the magnetic levitation track based on the operating conditions of the magnetic levitation track, improving the scientific accuracy of the magnetic levitation positioning of the magnetic levitation train.

[0050] Second, by implementing dynamic point-to-point matching of the real-time vertical clearance threshold and real-time lateral offset threshold of the maglev train positioning points based on real-time driving position information, intelligent and refined analysis of the vertical clearance threshold and lateral offset threshold of each maglev positioning point is achieved based on the coordinates of the maglev train positioning points, thereby improving the accuracy and precision of maglev train positioning; and by dynamically calculating the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning points based on numerical calculation, accurate analysis of maglev positioning parameters is achieved based on the spatial position of the maglev train and the operating status of the maglev track, thereby improving the efficiency and reliability of maglev train positioning.

[0051] Third, by combining the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point with data processing, the maglev positioning parameters of the maglev positioning point are autonomously and efficiently constructed. At the same time, combined with the maglev control and management platform, the levitation electromagnets and guide electromagnets are quickly and reliably controlled to perform the maglev positioning operation of the maglev train positioning point, thereby improving the response rate and safety of the maglev train positioning. Attached Figure Description

[0052] Figure 1 A schematic diagram of the module of the magnetic levitation adaptive positioning and control system provided by the present invention;

[0053] Figure 2 The flowchart shows the magnetic levitation adaptive positioning control method provided by the present invention. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] An embodiment of the magnetic levitation adaptive positioning control system and method is as follows:

[0056] Example 1:

[0057] Please see Figures 1-2 A magnetic levitation adaptive positioning and control method, comprising the following steps:

[0058] S1. Collect real-time driving position information of the maglev train positioning points, real-time track feature information of the maglev train, real-time vertical clearance value of the maglev train positioning points, and real-time lateral offset value of the maglev train positioning points; based on the real-time track information of the maglev train, search and process the position, vertical clearance threshold, and lateral offset threshold of different maglev positioning points on the track, and generate real-time track maglev positioning point position vertical clearance threshold combination information and real-time track maglev positioning point position lateral offset threshold combination information respectively.

[0059] S2. Match the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point to generate the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point respectively; calculate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point to generate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point respectively.

[0060] S3. Construct the magnetic levitation positioning parameters for the magnetic levitation positioning point and execute the magnetic levitation positioning operation for the magnetic levitation train positioning point.

[0061] For further details, please refer to Figures 1-2 The following steps were taken to collect real-time information on the location of the maglev train's positioning points, the real-time track characteristics of the maglev train, the real-time vertical clearance value of the maglev train's positioning points, and the real-time lateral offset value of the maglev train's positioning points. Based on the real-time track information of the maglev train, the positions, vertical clearance thresholds, and lateral offset thresholds of different maglev positioning points on the track were searched and processed to generate real-time track magnetic levitation positioning point position vertical clearance threshold combination information and real-time track magnetic levitation positioning point position lateral offset threshold combination information, respectively:

[0062] S11. Real-time spatial coordinate information of the magnetic levitation balance positioning points of the target maglev train body and the target track is collected online using position sensors, and a set of real-time driving position information of the maglev train positioning points is generated. ,in Indicates the first Real-time location information of each maglev train positioning point, including the longitude, latitude, and altitude of the maglev train positioning point.

[0063] The magnetic levitation control and management platform collects the target track number, name, and current time text information of the target magnetic levitation train in real time online, and generates the real-time track feature information of the magnetic levitation train.

[0064] S12. Based on the real-time driving position information set of the maglev train positioning point, collect and process the vertical gap and lateral offset between the maglev train positioning point and the driving track, and generate the real-time vertical gap value set and the real-time lateral offset value set of the maglev train positioning point respectively.

[0065] S13. Based on the real-time track feature information of the maglev train, search and process the position, vertical clearance threshold and lateral offset threshold of different maglev positioning points on the track, and generate the real-time track maglev positioning point position vertical clearance threshold combination information matrix and the real-time track maglev positioning point position lateral offset threshold combination information matrix respectively.

[0066] The steps for collecting and processing the vertical clearance and lateral offset between the maglev train positioning points and the running track based on the real-time driving position information set of the maglev train positioning points, and generating the real-time vertical clearance value set and the real-time lateral offset value set of the maglev train positioning points, are as follows:

[0067] S121. Real-time driving position information of the maglev train based on the positioning point using non-contact sensors. Real-time location information of the maglev train The vertical clearance and lateral offset values ​​between the positioning points of the maglev train and the running track are collected online, and a real-time vertical clearance value set of the maglev train positioning points is generated. Real-time lateral offset value set of maglev train positioning points ,in , Indicates the first Real-time vertical clearance value of each maglev train positioning point; , Indicates the first The real-time lateral offset value of the maglev train positioning point corresponds to the real-time vertical gap value of the maglev train positioning point, which represents the real-time distance between the maglev train positioning point and the upper or lower surface of the track in the vertical direction. The real-time lateral offset value of the maglev train positioning point represents the real-time distance between the maglev train positioning point and the outer side of the track in the direction. The units of the real-time vertical gap value and the real-time lateral offset value of the maglev train positioning point are both centimeters. The non-contact sensor includes any one of the following: eddy current sensor, inductive sensor, and Hall effect sensor.

[0068] The steps for searching and processing the positions, vertical clearance thresholds, and lateral offset thresholds of different magnetic levitation positioning points on the running track based on the real-time track characteristics of the maglev train are as follows: The results are generated by creating a matrix of information combining the positions and vertical clearance thresholds of the real-time track magnetic levitation positioning points and the matrix of information combining the positions and lateral offset thresholds of the real-time track magnetic levitation positioning points.

[0069] S131. Obtain real-time track characteristic information of the maglev train;

[0070] S132. Input the track number, name, and current time information corresponding to the real-time track characteristics of the maglev train into the data acquisition dialog box of the maglev control and management platform. The maglev control and management platform searches online for the position coordinates, vertical clearance threshold, and lateral offset threshold of different maglev positioning points on the real-time track of the maglev train, and generates a matrix of real-time track maglev positioning point position and vertical clearance threshold combination information. Combined with the information matrix of the real-time track magnetic levitation positioning point lateral offset threshold ,in , Indicates the current number The real-time vertical clearance threshold combination information for each track magnetic levitation positioning point corresponds to a specific track magnetic levitation positioning point. This information represents the combination of the position coordinates of different magnetic levitation positioning points on the track, collected in real-time based on the characteristics of the magnetic levitation train's track and the travel time, and the safe vertical clearance value at that position. The position coordinates of different magnetic levitation positioning points include the longitude, latitude, and altitude of the magnetic levitation positioning points. The safe vertical clearance value represents the optimal safe vertical clearance value determined based on the static shape and size parameters of the track and the dynamic vertical deformation parameters of the track, as monitored in real-time by track detection equipment. , Indicates the current number Real-time lateral offset threshold combination information for each track magnetic levitation positioning point; the real-time lateral offset threshold combination information represents the combination information of the position coordinates of different magnetic levitation positioning points on the running track collected in real time based on the characteristics of the magnetic levitation train running track object and the running time, and the lateral offset safety value of that position; where the lateral offset safety value represents the optimal safe lateral offset value determined based on the static shape and size parameters of the running track and the dynamic lateral deformation parameters of the track monitored in real time by the track detection equipment; where the units of the lateral offset safety value and the vertical clearance safety value are both centimeters.

[0071] By cooperating among the maglev train positioning point location acquisition unit, the maglev train track characteristic information acquisition unit, the maglev train positioning point vertical clearance acquisition unit, and the maglev train positioning point lateral offset acquisition unit, and through position sensors, the maglev control and management platform, and non-contact sensors, the real-time position, vertical clearance, lateral offset, and track information of the maglev train's positioning points are dynamically monitored, providing real data support for precise adjustment of the maglev train's position during operation. The track maglev positioning point vertical clearance threshold combination information search unit and the track maglev positioning point lateral offset threshold combination information search unit also cooperate to dynamically update and search for the vertical clearance and lateral offset thresholds of the maglev positioning points at different time points based on the real-time track characteristic information and the maglev control and management platform. This enables real-time dynamic updates of the vertical clearance and lateral offset thresholds of the maglev track based on the maglev track's operating conditions, improving the scientific accuracy of the maglev train's positioning.

[0072] For further details, please refer to Figures 1-2 The following steps are taken to match the real-time vertical clearance threshold and real-time lateral offset threshold of the maglev train positioning point to generate the real-time vertical clearance threshold and real-time lateral offset threshold of the maglev train positioning point, respectively; and to calculate the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning point to generate the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning point, respectively.

[0073] S21. Based on the real-time driving position information set of the maglev train positioning point, the information matrix of the combination of the real-time vertical gap threshold of the maglev positioning point and the information matrix of the combination of the real-time horizontal offset threshold of the maglev positioning point, perform matching processing of the real-time vertical gap threshold and the real-time horizontal offset threshold of the maglev train positioning point, and generate the real-time vertical gap threshold set and the real-time horizontal offset threshold set of the maglev train positioning point respectively.

[0074] S22. Based on the real-time vertical clearance value set, the real-time lateral offset value set, the real-time vertical clearance threshold set, and the real-time lateral offset threshold set of the maglev train positioning points, calculate and process the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning points, and generate the real-time vertical clearance difference set and the real-time lateral offset difference set of the maglev train positioning points respectively.

[0075] The following steps are taken to perform matching processing on the real-time vertical clearance threshold and real-time lateral offset threshold of the maglev train positioning points, based on the real-time driving position information set of the maglev train positioning points, the combined information matrix of the real-time vertical clearance threshold of the maglev train positioning points, and the combined information matrix of the real-time lateral offset threshold of the maglev train positioning points, to generate the real-time vertical clearance threshold set and the real-time lateral offset threshold set of the maglev train positioning points:

[0076] S211, Call the real-time driving position information set of the maglev train positioning point Real-time track magnetic levitation positioning point vertical gap threshold combination information matrix Combined with the information matrix of the real-time track magnetic levitation positioning point lateral offset threshold ;

[0077] S212, Collect real-time driving location information of maglev train positioning points Real-time location information of the maglev train An information matrix combining the ordered positioning point numbers of the maglev train with the vertical gap threshold of the real-time track maglev positioning point positions is used. Real-time information on vertical clearance thresholds for positioning points on the magnetic levitation track. Perform coordinate matching of positioning points to search for real-time travel location information of the maglev train. Matching real-time track magnetic levitation positioning point position vertical gap threshold combination information The corresponding vertical clearance threshold information is used to generate a real-time vertical clearance threshold set for the positioning points of the maglev train after data identification. Execute the generation of a real-time vertical clearance threshold set for the positioning points of the maglev train. The operation steps are as follows:

[0078] S2121. Determine the cluster boundary range and set the vertical gap threshold. During the search for Emperor penguins curling up for warmth, the selected location range is combined with the vertical gap threshold information matrix at the real-time track magnetic levitation positioning point. In the search space, during the aggregation process, the emperor penguin with vertical gap threshold search is adjacent to two or more emperor penguins with vertical gap threshold search, and the selection of neighboring emperor penguins with vertical gap threshold search is random; the boundary of the emperor penguin cluster range is the vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. In the search space, the boundary of the entire cluster is represented by the gradient of the wind around the vertical gap threshold during the search of the emperor penguin cluster. Here, wind speed is defined as... and gradient , Vertical gap threshold search for Emperor Penguin cluster boundaries ,in , ; Indicates wind speed The horizontal gradient, Indicates wind speed The vertical gradient, Indicates wind speed The horizontal gradient change;

[0079] S2122. Calculate the vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. The search space is defined by the vertical gap threshold, which is used to search for the temperature around the emperor penguin colony. If the current vertical gap threshold is used to search for the emperor penguin cluster radius... When ≥0.5, its temperature =0; when When <0.5, its temperature =1, temperature taper curve The calculation formula is as follows: ,in The maximum number of iterations, The current iteration number, temperature expression ;

[0080] S2123, Vertical gap threshold combination information matrix at real-time track magnetic levitation positioning point. The vertical gap threshold is calculated in the search space to search for the distance between emperor penguins, and this is used to form a vertical gap threshold combination information matrix at the real-time track magnetic levitation positioning point. Search the search space to find the real-time driving location information of the maglev train's positioning point. Matching real-time track magnetic levitation positioning point position vertical gap threshold combination information The distance between emperor penguins within the cluster is represented as the distance between the individual emperor penguin searched for the vertical gap threshold and the emperor penguin at the center of the cluster. The formula for the distance within the emperor penguin cluster searched for the vertical gap threshold is as follows: ,in This represents the distance between the individual emperor penguin in the vertical gap threshold search and the central emperor penguin in the vertical gap threshold search cluster. and The influence vector factor used for vertical gap threshold search of Emperor Penguin volume setting Indicates the first After the next iteration, the vertical gap threshold search results for the Emperor Penguin's vertical gap threshold combination information matrix at its real-time track magnetic levitation positioning point. Search the search space to find the real-time driving location information of the maglev train's positioning point. The most suitable combination of real-time track magnetic levitation positioning point vertical clearance threshold information The optimal position, Indicates the first After the next iteration, the vertical gap threshold search results for the Emperor Penguin's vertical gap threshold combination information matrix at its real-time track magnetic levitation positioning point. The position in the search space; Define the vertical gap threshold to search the main social status of emperor penguins, responsible for distinguishing the best individuals from ordinary individuals;

[0081] S2124. Vertical gap threshold search: Emperor Penguin's vertical gap threshold combination information matrix at real-time track magnetic levitation positioning point. The position is updated in the search space. Individuals in the Emperor Penguin colony update their position information by moving towards the Emperor Penguin at the center of the colony. This information is then combined with the vertical gap threshold at the real-time orbital magnetic levitation positioning point to create a matrix of vertical gap threshold information. Search the search space to find the real-time driving location information of the maglev train's positioning point. Matching real-time track magnetic levitation positioning point position vertical gap threshold combination information ; Information matrix of vertical gap threshold combination at real-time track magnetic levitation positioning point position The position is updated by moving towards the center of the Emperor Penguin cluster in the search space according to the vertical gap threshold. The position update formula is as follows: ,in, Indicates the first After +1 iteration, the vertical gap threshold search yields the combined information matrix of vertical gap thresholds at the Emperor Penguin's real-time orbital magnetic levitation positioning point. The position in the search space;

[0082] S2125. When the maximum number of iterations is met, output the real-time driving position information of the maglev train's positioning point. Matching real-time track magnetic levitation positioning point position vertical gap threshold combination information The corresponding vertical clearance threshold information is used to generate a real-time vertical clearance threshold set for the positioning points of the maglev train after data identification. ,in Indicates the first The real-time vertical clearance threshold for each maglev train positioning point is expressed in centimeters.

[0083] Simultaneously, the artificial intelligence search algorithm in step S212 is used to collect the real-time driving position information of the maglev train positioning points. Real-time location information of the maglev train An information matrix combining the ordered positioning point numbers of the maglev train with the real-time track maglev positioning point lateral offset threshold is used. Real-time information on the lateral offset threshold of the positioning point in the magnetic levitation track. Perform coordinate matching of positioning points to search for real-time travel location information of the maglev train. Matching real-time track magnetic levitation positioning point lateral offset threshold combination information The corresponding lateral offset threshold information is used to generate a real-time lateral offset threshold set for the positioning points of the maglev train after data identification. ,in Indicates the first The real-time lateral offset threshold of the maglev train positioning point corresponds to a positioning point of the maglev train; the unit of the real-time lateral offset threshold of the maglev train positioning point is centimeters.

[0084] The steps for calculating and processing the real-time vertical clearance difference and real-time lateral offset difference values ​​of the maglev train positioning points, based on the real-time vertical clearance threshold set, real-time lateral offset threshold set, and other relevant data sets, to generate the real-time vertical clearance difference set and lateral offset difference set of the maglev train positioning points are as follows:

[0085] S221. Obtain the real-time vertical clearance value set of the positioning points of the maglev train. Real-time lateral offset value set of positioning points for maglev trains Real-time vertical gap threshold set for maglev train positioning points Real-time lateral offset threshold set of maglev train positioning points ;

[0086] S222, Set the real-time vertical gap threshold of the maglev train positioning points. Real-time vertical clearance threshold of positioning points for maglev trains According to the order of the maglev train positioning point numbers and the real-time vertical gap value set of the maglev train positioning points. Real-time vertical clearance value of positioning points for maglev trains The difference between the real-time vertical clearance threshold and the real-time vertical clearance value of the positioning point of the maglev train is calculated, and the set of real-time vertical clearance difference values ​​of the positioning point of the maglev train is statistically obtained. ,in Indicates the first Real-time vertical clearance difference between each positioning point of the maglev train. , The values ​​can include positive, zero, and negative values; when When the value is positive, it indicates that the current number is [number]. The real-time vertical clearance at each positioning point of the maglev train is less than the safe value for vertical clearance, and needs to be adjusted accordingly. Increase vertical clearance; when When the value is zero, it indicates that the current number is zero. The real-time vertical clearance of each positioning point of the maglev train is equal to the vertical clearance safety value; when When the value is negative, it indicates that the current number is _____. The real-time vertical clearance at each positioning point of the maglev train is greater than the safe value for vertical clearance, and needs to be addressed according to... Reduce vertical clearance; the unit for the real-time vertical clearance difference of the positioning point of the maglev train is centimeters;

[0087] Simultaneously set the real-time lateral offset threshold for the positioning point of the maglev train Real-time lateral offset threshold of positioning point for maglev train According to the maglev train positioning point numbering and the real-time lateral offset value set of the maglev train positioning point... Real-time lateral offset value of positioning point of maglev train The difference between the real-time lateral offset threshold and the real-time lateral offset value of the maglev train positioning point is calculated, and a set of real-time lateral offset difference values ​​of the maglev train positioning point is obtained. ,in Indicates the first Real-time lateral offset difference between the positioning points of each maglev train. , The values ​​can include positive, zero, and negative values; when When the value is positive, it indicates that the current number is [number]. The real-time lateral offset of each maglev train positioning point is less than the lateral offset safety value, and needs to be in accordance with... Increase lateral offset; when When the value is zero, it indicates that the current number is zero. The real-time lateral offset of a maglev train's positioning point equals the lateral offset safety value; when When the value is negative, it indicates that the current number is _____. The real-time lateral offset of the positioning point of the maglev train is greater than the lateral offset safety value, and needs to be handled according to... Reduce lateral offset; the unit for the real-time lateral offset difference of the positioning point of the maglev train is centimeters.

[0088] By cooperating with the vertical clearance threshold analysis unit and the lateral offset threshold analysis unit of the maglev train positioning point, dynamic point-to-point matching of the real-time vertical clearance threshold and real-time lateral offset threshold of the maglev train positioning point is achieved based on the real-time driving position information of the maglev train positioning point. This enables intelligent and refined analysis of the vertical clearance threshold and lateral offset threshold of each maglev positioning point based on the coordinates of the maglev train positioning point, improving the accuracy and precision of maglev train positioning. Furthermore, by cooperating with the vertical clearance difference calculation unit and the lateral offset difference calculation unit of the maglev train positioning point, the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning point are dynamically calculated based on numerical calculations. This enables accurate analysis of maglev positioning parameters based on the spatial position of the maglev train and the operating status of the maglev track, improving the efficiency and reliability of maglev train positioning.

[0089] For further details, please refer to Figures 1-2 The steps for constructing the magnetic levitation positioning parameters for the magnetic levitation positioning point and performing the magnetic levitation positioning operation for the magnetic levitation train are as follows:

[0090] S31, Set the real-time vertical clearance difference of the positioning points of the maglev train. Real-time lateral offset difference set of positioning points for maglev trains The magnetic levitation positioning parameters of the magnetic levitation positioning point are generated by combining data identifiers.

[0091] S32, The maglev control and management platform is based on the real-time vertical clearance difference set of the maglev train positioning points within the maglev positioning parameters. Real-time vertical clearance difference of positioning points of maglev train Real-time lateral offset difference set of positioning points for maglev trains Real-time lateral offset difference of positioning point of maglev train The levitation electromagnets and guide electromagnets of the maglev train are controlled separately to adjust the vertical gap and lateral offset between the maglev train and the track, and to perform maglev positioning operations at the positioning points of the maglev train.

[0092] By cooperating with the magnetic levitation positioning parameter construction unit and the magnetic levitation positioning operation execution unit of the magnetic levitation train positioning point, the magnetic levitation positioning parameters of the magnetic levitation positioning point are autonomously and efficiently constructed based on the real-time vertical clearance difference and the real-time lateral offset difference of the magnetic levitation train positioning point. At the same time, combined with the magnetic levitation control and management platform, the levitation electromagnets and guide electromagnets are quickly and reliably controlled to perform the magnetic levitation positioning operation of the magnetic levitation train positioning point, thereby improving the response rate and safety of the magnetic levitation positioning of the magnetic levitation train.

[0093] Example 2:

[0094] Please see Figures 1-2 A magnetic levitation adaptive positioning and control system is used to realize the magnetic levitation adaptive positioning and control method. The system includes a magnetic levitation positioning adjustment parameter collection module, a magnetic levitation positioning adjustment parameter analysis module, and a magnetic levitation positioning control module.

[0095] The magnetic levitation positioning adjustment parameter collection module includes a magnetic levitation train positioning point travel position acquisition unit, a magnetic levitation train travel track characteristic information acquisition unit, a magnetic levitation train positioning point vertical clearance acquisition unit, a magnetic levitation train positioning point lateral offset acquisition unit, a track magnetic levitation positioning point position vertical clearance threshold combination information search unit, and a track magnetic levitation positioning point position lateral offset threshold combination information search unit.

[0096] The maglev train positioning point travel position acquisition unit collects real-time travel position information of the maglev train positioning points through position sensors; the maglev train track feature information acquisition unit collects real-time track feature information of the maglev train through the maglev control and management platform; the maglev train positioning point vertical clearance acquisition unit collects and processes the vertical clearance between the maglev train positioning point and the track based on the real-time travel position information of the maglev train positioning points and non-contact sensors, generating a real-time vertical clearance value for the maglev train positioning point; and the maglev train positioning point lateral offset acquisition unit collects the lateral offset between the maglev train positioning point and the track based on the real-time travel position information of the maglev train positioning points and non-contact sensors. The system performs two main steps: First, it collects and processes data to generate real-time lateral offset values ​​for the maglev train's positioning points. Second, it uses a vertical clearance threshold combination information search unit to search for different maglev positioning points on the track based on the real-time track characteristics of the maglev train and the maglev control and management platform, generating real-time vertical clearance threshold combination information for the track's maglev positioning points. Finally, it uses a lateral offset threshold combination information search unit to search for different maglev positioning points on the track based on the real-time track characteristics of the maglev train and the maglev control and management platform, generating real-time lateral offset threshold combination information for the track's maglev positioning points.

[0097] The magnetic levitation positioning adjustment parameter analysis module includes a magnetic levitation train positioning point vertical clearance threshold analysis unit, a magnetic levitation train positioning point lateral offset threshold analysis unit, a magnetic levitation train positioning point vertical clearance difference calculation unit, and a magnetic levitation train positioning point lateral offset difference calculation unit.

[0098] The maglev train positioning point vertical clearance threshold analysis unit performs real-time vertical clearance threshold matching processing based on the real-time driving position information of the maglev train positioning point and the real-time track maglev positioning point position vertical clearance threshold combination information, generating the real-time vertical clearance threshold of the maglev train positioning point; the maglev train positioning point lateral offset threshold analysis unit performs real-time lateral offset threshold matching processing based on the real-time driving position information of the maglev train positioning point and the real-time track maglev positioning point position lateral offset threshold combination information matrix, generating the real-time vertical clearance threshold of the maglev train positioning point. The system includes a lateral offset threshold and a maglev train positioning point vertical clearance difference calculation unit. The maglev train positioning point vertical clearance difference calculation unit calculates the real-time vertical clearance difference between the maglev train positioning points based on the real-time vertical clearance value and the maglev train positioning point vertical clearance threshold, generating the real-time vertical clearance difference value. The maglev train positioning point lateral offset difference calculation unit also calculates the real-time lateral offset difference between the maglev train positioning points based on the real-time lateral offset value and the maglev train positioning point lateral offset threshold, generating the real-time lateral offset difference value.

[0099] The magnetic levitation positioning control module includes a magnetic levitation positioning parameter construction unit for magnetic levitation train positioning points and a magnetic levitation positioning operation execution unit for magnetic levitation train positioning points.

[0100] The maglev train positioning point magnetic levitation positioning parameter construction unit constructs magnetic levitation positioning parameters based on the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point through data processing. The maglev train positioning point magnetic levitation positioning operation execution unit executes the magnetic levitation positioning operation based on the magnetic levitation positioning parameters and in conjunction with the magnetic levitation control and management platform, controlling the levitation electromagnets and guide electromagnets.

[0101] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A magnetic levitation adaptive positioning and control method, characterized in that, The method includes the following steps: S1. Collect real-time driving position information of the maglev train positioning points, real-time track feature information of the maglev train, real-time vertical clearance value of the maglev train positioning points, and real-time lateral offset value of the maglev train positioning points; based on the real-time track information of the maglev train, search and process the position, vertical clearance threshold, and lateral offset threshold of different maglev positioning points on the track, and generate real-time track maglev positioning point position vertical clearance threshold combination information and real-time track maglev positioning point position lateral offset threshold combination information respectively. S2. Match the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point to generate the real-time vertical clearance threshold and the real-time lateral offset threshold of the maglev train positioning point respectively; calculate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point to generate the real-time vertical clearance difference and the real-time lateral offset difference of the maglev train positioning point respectively. S3. Construct the magnetic levitation positioning parameters for the magnetic levitation positioning point and execute the magnetic levitation positioning operation for the magnetic levitation train positioning point.

2. The magnetic levitation adaptive positioning and control method according to claim 1, characterized in that: The operation steps of S1 are as follows: S11. Real-time spatial coordinate information of the magnetic levitation balance positioning points of the target maglev train body and the target track is collected online using position sensors, and a set of real-time driving position information of the maglev train positioning points is generated. The include ;in Indicates the first Real-time driving location information of each maglev train positioning point; The magnetic levitation control and management platform collects the target track number, name, and current time text information of the target magnetic levitation train in real time online, and generates the real-time track feature information of the magnetic levitation train. S12. Based on the real-time driving position information set of the maglev train positioning point, the vertical gap and lateral offset between the maglev train positioning point and the driving track are collected and processed to generate the real-time vertical gap value set and the real-time lateral offset value set of the maglev train positioning point, respectively. S13. Based on the real-time track feature information of the maglev train, perform search processing on the position, vertical gap threshold and lateral offset threshold of different maglev positioning points on the track, and generate real-time track maglev positioning point position vertical gap threshold combination information matrix and real-time track maglev positioning point position lateral offset threshold combination information matrix respectively.

3. The magnetic levitation adaptive positioning and control method according to claim 2, characterized in that: The operation steps of S12 are as follows: S121, Based on the non-contact sensor... The above The vertical clearance and lateral offset values ​​between the positioning points of the maglev train and the running track are collected online, and a real-time vertical clearance value set of the maglev train positioning points is generated. Real-time lateral offset value set of maglev train positioning points The include ; Indicates the first The real-time vertical gap value of each maglev train positioning point; include ; Indicates the first Real-time lateral offset value of each maglev train positioning point.

4. The magnetic levitation adaptive positioning and control method according to claim 3, characterized in that: The operation steps of S13 are as follows: S131. Obtain the real-time track feature information of the maglev train; S132. Input the track number, name, and current time information corresponding to the real-time track feature information of the maglev train into the data acquisition dialog box of the maglev control and management platform online. The maglev control and management platform searches online for the position coordinates, vertical clearance threshold, and lateral offset threshold of different maglev positioning points on the real-time track of the maglev train, and generates a matrix of real-time track maglev positioning point position and vertical clearance threshold combination information. Combined with the information matrix of the real-time track magnetic levitation positioning point lateral offset threshold , wherein include , Indicates the current number Real-time vertical gap threshold combination information for each track magnetic levitation positioning point; The real-time track magnetic levitation positioning point vertical clearance threshold combination information represents the combination information of the position coordinates of different magnetic levitation positioning points on the track and the vertical clearance safety value at that position, which is collected in real time based on the characteristics of the magnetic levitation train track object and the travel time. The vertical clearance safety value represents the optimal safe vertical clearance value determined based on the static shape and size parameters of the running track and the dynamic vertical deformation parameters of the track, as monitored in real time by track detection equipment; include ; Indicates the current number Real-time information on the lateral offset threshold of each track magnetic levitation positioning point; The real-time track magnetic levitation positioning point position lateral offset threshold combination information represents the combination information of the position coordinates of different magnetic levitation positioning points on the track and the lateral offset safety value of the position, which is collected in real time based on the characteristics of the magnetic levitation train track object and the travel time. The lateral offset safety value represents the optimal safe lateral offset value determined based on the static shape and size parameters of the running track and the dynamic lateral deformation parameters of the track, which are monitored in real time by the track detection equipment.

5. The magnetic levitation adaptive positioning and control method according to claim 4, characterized in that: The operation steps of S2 are as follows: S21. Based on the real-time driving position information set of the maglev train positioning point, the information matrix of the combination of the real-time vertical gap threshold of the track maglev positioning point, and the information matrix of the combination of the real-time horizontal offset threshold of the track maglev positioning point, perform matching processing of the real-time vertical gap threshold and the real-time horizontal offset threshold of the maglev train positioning point to generate the real-time vertical gap threshold set and the real-time horizontal offset threshold set of the maglev train positioning point, respectively. S22. Based on the real-time vertical clearance value set, the real-time lateral offset value set, the real-time vertical clearance threshold set, and the real-time lateral offset threshold set of the maglev train positioning points, calculate and process the real-time vertical clearance difference and real-time lateral offset difference of the maglev train positioning points to generate the real-time vertical clearance difference set and the real-time lateral offset difference set of the maglev train positioning points, respectively.

6. The magnetic levitation adaptive positioning and control method according to claim 5, characterized in that: The operation steps of S21 are as follows: S211, Invoke the above The above and stated ; S212, the above The above According to the maglev train positioning point numbering, and in order with the above The above Perform location point coordinate matching to search for the coordinates of the location point. The matching The corresponding vertical clearance threshold information is used to generate a real-time vertical clearance threshold set for the positioning points of the maglev train after data identification. Execute the generation of the real-time vertical gap threshold set for the positioning points of the maglev train. The operation steps are as follows: S2121. Determine the cluster boundary range and set the vertical gap threshold. The location range selected during the search for emperor penguins huddling for warmth is described in [the relevant section / section]. In the search space, during the aggregation process, Emperor Penguins using the vertical gap threshold search cluster are adjacent to two or more Emperor Penguins using the vertical gap threshold search cluster, and the selection of neighboring Emperor Penguins using the vertical gap threshold search cluster is random; the boundary of the Emperor Penguin cluster range is defined in the search space. In the search space, the boundary of the entire cluster is represented by the gradient of the wind around the vertical gap threshold during the search of the emperor penguin cluster. Here, wind speed is defined as... and gradient , Vertical gap threshold search for Emperor Penguin cluster boundaries ; S2122, Calculation in the above The search space is defined by the vertical gap threshold, which is used to search for the temperature around the emperor penguin colony. If the current vertical gap threshold is used to search for the emperor penguin cluster radius... When ≥0.5, its temperature =0; when When <0.5, its temperature =1; S2123, in the above The vertical gap threshold is calculated in the search space to search for the distance between emperor penguins, thereby... Search the search space for the match with the The matching The distance between emperor penguins within the cluster is represented as the distance between the individual emperor penguin in the vertical gap threshold search and the emperor penguin at the center of the vertical gap threshold search cluster. S2124, Vertical gap threshold search Emperor Penguin in the above The position is updated in the search space. Individuals in the emperor penguin colony update their position information by moving towards the emperor penguin at the center of the colony, thereby updating the position information in the vertical gap threshold search. Search the search space for the match with the The matching ; in the The search space is used to move and update the position towards the center of the Emperor Penguin colony by searching for the vertical gap threshold. S2125. When the maximum number of iterations is satisfied, the output is the same as described above. The matching The corresponding vertical clearance threshold information is used to generate a real-time vertical clearance threshold set for the positioning points of the maglev train after data identification. The include ;in Indicates the first Real-time vertical gap threshold of each maglev train positioning point; The artificial intelligence search algorithm in step S212 is used simultaneously to... The above According to the maglev train positioning point numbering, and in order with the above The above Perform location point coordinate matching to search for the coordinates of the location point. The matching The corresponding lateral offset threshold information is used to generate a real-time lateral offset threshold set for the positioning points of the maglev train after data identification. The include ;in Indicates the first Real-time lateral offset threshold of each maglev train positioning point.

7. The magnetic levitation adaptive positioning and control method according to claim 6, characterized in that: The operation steps of S22 are as follows: S221, Obtain the The above The above and stated ; S222, the above The above According to the maglev train positioning point numbering, and in order with the above The above The difference between the real-time vertical clearance threshold and the real-time vertical clearance value of the positioning point of the maglev train is calculated, and the set of real-time vertical clearance difference values ​​of the positioning point of the maglev train is statistically obtained. The include ;in Indicates the first Real-time vertical clearance difference between each maglev train positioning point; Synchronously The above According to the maglev train positioning point numbering, and in order with the above The above The difference between the real-time lateral offset threshold and the real-time lateral offset value of the maglev train positioning point is calculated, and a set of real-time lateral offset difference values ​​of the maglev train positioning point is obtained. The include ;in Indicates the first Real-time lateral offset difference of each maglev train positioning point.

8. The magnetic levitation adaptive positioning and control method according to claim 7, characterized in that: The operation steps of S3 are as follows: S31, the above and stated The magnetic levitation positioning parameters of the magnetic levitation positioning point are generated by combining data identifiers. S32, The magnetic levitation control and management platform is based on the magnetic levitation positioning parameters within the magnetic levitation positioning point. The above and stated The above The levitation electromagnets and guide electromagnets of the maglev train are controlled separately to adjust the vertical gap and lateral offset between the maglev train and the track, and to perform maglev positioning operations at the positioning points of the maglev train.

9. A magnetic levitation adaptive positioning and control system, used to implement the magnetic levitation adaptive positioning and control method according to any one of claims 1-8, characterized in that: The system includes a magnetic levitation positioning adjustment parameter collection module, a magnetic levitation positioning adjustment parameter analysis module, and a magnetic levitation positioning control module.

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