A method, device and equipment for levitation control of a maglev train and a storage medium

Abstract

This application discloses a levitation control method, device, equipment, and storage medium for maglev trains, relating to the field of maglev train control technology. This method is applied to a train control system, where levitation commands (including levitation control commands and descent control commands) are automatically issued by the train control system. The train control system interacts with the levitation control system, receiving the number of levitation failure points sent by the levitation control system. If the number of levitation failure points is greater than or less than a preset threshold, corresponding control strategies are implemented after entering the station. Furthermore, the train control system interacts with the control center, controlling the levitation control system to perform descent and levitation operations or control the train to continue running based on the interaction content. This method reduces the burden of manual operation, improves operational safety, achieves fully unmanned operation, effectively ensures the efficiency, reliability, and passenger experience of fully automated operation (GoA4 level), and meets the requirements of fully automated operation in smart urban rail transit.

Description

Technical Field

[0001] This application relates to the field of maglev train control technology, and in particular to a maglev train levitation control method, device, equipment and storage medium. Background Technology

[0002] Medium- and low-speed maglev transportation systems typically employ conventional electromagnetic levitation technology for levitation guidance, using linear induction motors for traction and electric braking. The levitation control system of a medium- and low-speed maglev transportation system consists of core components such as gap sensors, controllers, power amplifiers, and electromagnet actuators. Its core function is to detect the air gap between the train and the track in real time and dynamically adjust the electromagnet current through feedback control algorithms (such as PID), thereby achieving stable levitation or smooth landing of the train. In related technologies, the levitation command (i.e., the instruction to initiate levitation or trigger landing) is issued manually, and the system automatically executes the levitation process; simultaneously, operational safety is monitored and ensured by operators in real time, ensuring the accuracy of the command issuance and emergency response capabilities. However, the scheme relying on manual issuance of levitation commands not only increases the workload of manual operation and poses a risk of human error, but also cannot guarantee the efficiency, reliability, and passenger experience of fully automated operation (GoA4 level).

[0003] Therefore, how to solve the above-mentioned technical defects has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide a levitation control method, device, equipment and storage medium for maglev trains, which can reduce the burden of manual operation, improve operational safety, realize fully unmanned operation, effectively ensure the efficiency, reliability and passenger experience of fully automatic operation (GoA4 level), and meet the needs of fully automatic operation of smart urban rail transit.

[0005] To address the aforementioned technical problems, this application provides a levitation control method for maglev trains, applied to a train control system, comprising: Receive the number of suspension failure points sent by the suspension control system; If the number of suspension failure points is greater than a preset threshold, information to confirm the abnormal suspension status will be sent to the control center after the train enters the station. If the target information sent by the control center is received, a request for confirmation of suspension anomaly is sent to the control center; the target information indicates that the number of suspension failure points does not affect vehicle operation. After requesting confirmation of suspension anomaly from the control center, if the train receives confirmation of anomaly from the control center, it will continue to operate. If the number of suspension failure points is less than the preset threshold, then after the train enters the station, if a remote reset and buoyancy command is received from the control center, a drop control command and a buoyancy control command are sent to the suspension control system to control the suspension control system to perform drop and buoyancy operations. After the suspension control system performs the dropping and buoyancy operations, if the system receives feedback that the status has returned to normal, the train will continue to run.

[0006] In some embodiments, it also includes: When the levitation feedback is abnormal and a levitation control bypass command is received from the control center, the levitation feedback abnormality is ignored, the train continues to run, and the levitation monitoring function is stopped. When a hover control bypass cancellation command is received from the control center, the hover monitoring function is restored.

[0007] In some embodiments, the train control system and the suspension control system communicate indirectly through an intermediate system; the suspension control method further includes: When the intermediate system communication is interrupted or malfunctions, the train is automatically stopped at the platform.

[0008] In some embodiments, it also includes: During the daily inspection of the train and the suspension control test, a buoyancy control command is output to the suspension control system. If a normal levitation state is detected, the train levitation test is considered successful. Output a drop control command to the suspension control system; If the train is detected to be in a falling state, the train falling test is considered successful. If the train buoyancy test fails and / or the train drop test fails, the suspension control test is deemed unqualified. If the suspension control test fails, the train will not be put into service.

[0009] In some embodiments, it also includes: If a normal levitation state is not detected, the levitation control command will be re-output until the preset number of levitation control commands are output. If a normal levitation state is still not detected after the preset number of levitation control commands are output, the levitation control test is deemed to have failed.

[0010] In some embodiments, it also includes: When the train is at zero speed and in a levitated state, a countdown is performed on the maximum static levitation time of the levitation control system. When the countdown ends, a drop control command is output to the suspension control system to cause the train to drop.

[0011] In some embodiments, it also includes: If the vehicle loses its levitation state when the train enters automatic driving mode, the train will be controlled to exit automatic driving mode.

[0012] To address the aforementioned technical problems, this application also provides a levitation control device for a maglev train, applied to a train control system, comprising: The receiving unit is used to receive the number of suspension failure points sent by the suspension control system; The sending unit is used to send information to the control center to confirm the abnormal suspension status after the train enters the station if the number of suspension failure points is greater than a preset threshold. The first control unit is used to request confirmation of suspension anomaly from the control center if it receives target information sent by the control center; the target information indicates that the number of suspension failure points does not affect vehicle operation. The second control unit is used to request confirmation of suspension abnormality from the control center, and if it receives the abnormality confirmation information sent by the control center, it controls the train to continue running. The third control unit is used to send a drop control command and a buoyancy control command to the suspension control system after the train enters the station if the number of suspension failure points is less than the preset threshold, so as to control the suspension control system to perform drop operation and buoyancy operation. The fourth control unit is used to control the train to continue running if it receives feedback from the levitation control system that the status has returned to normal after the levitation control system performs the dropping and levitation operations.

[0013] To address the aforementioned technical problems, this application also provides an electronic device, comprising: Memory, used to store computer programs; A processor is used to execute the computer program to implement the levitation control method for the maglev train as described above.

[0014] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the levitation control method for a maglev train as described above.

[0015] The levitation control method for maglev trains provided in this application is applied to a train control system and includes: The system receives the number of levitation failure points sent by the levitation control system. If the number of levitation failure points is greater than a preset threshold, it sends information to the control center to confirm the abnormal levitation state after the train enters the station. If it receives target information sent by the control center, it requests confirmation of the levitation anomaly from the control center. The target information indicates that the number of levitation failure points does not affect the operation of the train. After requesting confirmation of the levitation anomaly from the control center, if it receives confirmation information from the control center, it controls the train to continue running. If the number of levitation failure points is less than the preset threshold, after the train enters the station, if it receives a remote reset and levitation command sent by the control center, it sends a drop control command and a levitation control command to the levitation control system to control the levitation control system to perform drop and levitation operations. After controlling the levitation control system to perform drop and levitation operations, if it receives feedback from the levitation control system that the status has returned to normal, it controls the train to continue running.

[0016] As can be seen, the levitation control method for maglev trains provided in this application automatically issues levitation commands (including levitation control commands and descent control commands) through the train control system. The train control system interacts with the levitation control system, receiving the number of levitation failure points sent by the levitation control system. If the number of levitation failure points exceeds or falls below a preset threshold, corresponding control strategies are implemented upon entering the station. Furthermore, the train control system interacts with the control center, controlling the levitation control system to perform descent and levitation operations or to continue train operation based on the interaction content. This reduces the burden of manual operation, improves operational safety, achieves fully unmanned operation, effectively ensures the efficiency, reliability, and passenger experience of fully automated operation (GoA4 level), and meets the requirements of fully automated operation in smart urban rail transit.

[0017] The levitation control device, equipment, and computer-readable storage medium for the maglev train provided in this application all have the aforementioned technical effects. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic flowchart illustrating a levitation control method for a maglev train provided in an embodiment of this application; Figure 2 This is a schematic diagram illustrating a scenario of communication interruption or TCMS failure provided in an embodiment of this application. Figure 3A schematic diagram of a levitation control device for a maglev train provided in an embodiment of this application; Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] The core of this application is to provide a levitation control method, device, equipment and storage medium for maglev trains, which can reduce the burden of manual operation, improve operational safety, realize fully unmanned operation, effectively ensure the efficiency, reliability and passenger experience of fully automatic operation (GoA4 level), and meet the needs of fully automatic operation of smart urban rail transit.

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a levitation control method for a maglev train provided in an embodiment of this application. (Refer to...) Figure 1 As shown, this method is applied to a train control system and includes: S101: Receive the number of suspension failure points sent by the suspension control system; S102: If the number of suspension failure points is greater than a preset threshold, information to confirm the abnormal suspension status will be sent to the control center after the train enters the station. S103: If the target information sent by the control center is received, then request confirmation of suspension anomaly from the control center; the target information indicates that the number of suspension failure points does not affect vehicle operation; S104: After requesting confirmation of suspension anomaly from the control center, if the anomaly confirmation information sent by the control center is received, the train is controlled to continue running. S105: If the number of suspension failure points is less than the preset threshold, then after the train enters the station, if a remote reset and buoyancy command is received from the control center, a drop control command and a buoyancy control command are sent to the suspension control system to control the suspension control system to perform drop and buoyancy operations. S106: After controlling the suspension control system to perform the dropping and buoyancy operations, if the system receives feedback that the status has returned to normal, the train is controlled to continue running.

[0023] The levitation control method for maglev trains provided in this application is applicable to medium- and low-speed maglev trains. To achieve automatic levitation control of medium- and low-speed maglev trains, direct or indirect communication is established between the levitation control system and the train control system. Direct communication refers to direct communication between the levitation control system and the train system. Indirect communication refers to communication between the levitation control system and the train control system through an intermediate system (e.g., TCMS (Train Control and Management System)).

[0024] When the levitation control system receives a buoyancy control command, the levitation controller can control the levitation electromagnet to rise from the lowered state to the rated levitation gap, achieving normal levitation of the train. When the levitation control system receives a descent control command, the levitation controller can control the levitation electromagnet to descend from the levitation state to the lowered state, achieving train descent.

[0025] The suspension control system has information transmission capabilities, enabling it to transmit suspension / fall status and fault status to the suspension control monitoring equipment.

[0026] The levitation control system transmits its buoyancy / descent status and levitation point failure status to the train control system. Additionally, the levitation frame is equipped with an emergency rescue support device. When a vehicle experiences levitation failure and the train control system cannot provide further safety protection, the levitation support device ensures the train continues operation to a nearby station and, after passengers have been cleared, proceeds to a nearby vehicle maintenance center.

[0027] Medium- and low-speed maglev trains rely on multiple levitation points (approximately 16-20) working together per car. When the number of levitation failure points per car is less than a preset threshold M, the safety of the car's levitation can still be ensured. When the number of levitation failure points per car exceeds the preset threshold M, the train can only continue operating to a nearby station and, after passengers are cleared, proceed to a nearby vehicle maintenance center. Therefore, when the number of levitation failure points is less than the preset threshold M, the dispatcher can issue a remote reset and levitation command from the control center when the train is entering a station for maintenance. If the train control system receives the remote reset and levitation command from the control center, it sends a drop control command and a levitation control command to the levitation control system to re-drop and levitize. If the levitation control system returns to normal after the drop and levitation operations are performed, the train can continue operating, and the train control system will continue to operate the train.

[0028] When the number of suspension failure points exceeds a preset threshold M, the onboard equipment of the train control system confirms the suspension anomaly status to the control center after the train enters the station. If the dispatcher confirms at the control center that the suspension control system is likely malfunctioning and will not affect operations, the dispatcher can send target information indicating that the number of suspension failure points will not affect train operation to the onboard equipment through the control center. Upon receiving this target information, the onboard equipment requests confirmation of the suspension anomaly from the control center. The dispatcher can manually confirm the anomaly; upon receiving the confirmation, the onboard equipment ignores the anomaly, and the train continues running. If no manual confirmation is made, the train will be cleared of passengers and then driven to the nearest vehicle maintenance center for repairs.

[0029] In some embodiments, it also includes: When the levitation feedback is abnormal and a levitation control bypass command is received from the control center, the levitation feedback abnormality is ignored, the train continues to run, and the levitation monitoring function is stopped. When a hover control bypass cancellation command is received from the control center, the hover monitoring function is restored.

[0030] If the train detects a levitation state and a levitation fault during operation, no action is taken. Once the train comes to a complete stop at the platform, the train will enter the levitation control process.

[0031] If the train loses its levitation status during operation, it will brake to a stop. The levitation support and rescue device will then deploy to alleviate the emergency braking. The train will then proceed to the next station at the permitted speed, where dispatch will decide on further rescue measures.

[0032] When the onboard equipment receives a levitation feedback anomaly and malfunctions, but manual confirmation indicates that the levitation control system is functioning normally and the problem lies solely in its external communication, the dispatch center can configure a levitation control bypass. Upon receiving the bypass notification, the onboard equipment will ignore the levitation anomaly and continue operation, at which point levitation control can be handed over to manual control. Once the dispatch center confirms that the levitation control system is functioning normally and that the onboard equipment has collected levitation status information, the dispatch center will cancel the levitation control bypass, and the onboard equipment will continue monitoring the levitation status and operation will resume.

[0033] In some embodiments, the train control system and the suspension control system communicate indirectly through an intermediate system; the suspension control method further includes: When the intermediate system communication is interrupted or malfunctions, the train is automatically stopped at the platform.

[0034] When the suspension control system and the train control system establish communication through TCMS, an interruption in communication between the on-board equipment and TCMS will affect the train control system's control over the suspension control system.

[0035] When the train is operating in AM / CM / RM mode and communication with the TCMS is interrupted or the TCMS malfunctions, it will not receive any information from the suspension control system. In this case, the train recognizes the cause as a TCMS issue and can proceed to the platform for automatic deactivation, with the dispatcher deciding on subsequent operations. If the dispatcher contacts station staff to manually confirm that the suspension control system is functioning normally, the dispatcher will set a suspension control bypass. Upon receiving the suspension control bypass, the onboard equipment will ignore the abnormal information and continue operation. In this scenario, suspension control can be handed over to manual control. For example... Figure 2 As shown, when train 1 experiences a TCMS malfunction or communication interruption between the onboard equipment and TCMS, the train movement authorization can only be extended to the platform area at most. The train will be automatically detained when it reaches the platform. Only after the dispatcher and station staff jointly confirm that the train is ready for operation can the train be authorized to continue operating, and only then can the train movement authorization be extended.

[0036] Once the fault is resolved, the dispatcher can manually cancel the levitation control bypass at the control center. After the train responds to the cancellation of the levitation control bypass, it will enter the normal levitation control process.

[0037] In some embodiments, it also includes: During the daily inspection of the train and the suspension control test, a buoyancy control command is output to the suspension control system. If a normal levitation state is detected, the train levitation test is considered successful. Output a drop control command to the suspension control system; If the train is detected to be in a falling state, the train falling test is considered successful. If the train buoyancy test fails and / or the train drop test fails, the suspension control test is deemed unqualified. If the suspension control test fails, the train will not be put into service.

[0038] In some embodiments, it also includes: If a normal levitation state is not detected, the levitation control command will be re-output until the preset number of levitation control commands are output. If a normal levitation state is still not detected after the preset number of levitation control commands are output, the levitation control test is deemed to have failed.

[0039] The train undergoes a suspension control test during its daily inspection before going into service; trains that fail the test are not allowed to go into service.

[0040] The onboard equipment outputs a levitation control command, and if the train is detected as levitated with no levitation fault feedback, the levitation test is considered successful. The onboard equipment then outputs a descent control command, and if the train is detected as descent, the descent control test is considered successful. After the train comes to a complete stop, the onboard equipment performs levitation control, and once the levitation status is confirmed to be normal, the train can be put into operation.

[0041] If the onboard equipment does not receive feedback on a normal levitation status when controlling the train to levitate, it will continue to control the descent and levitation for a preset number of times (the preset number of times is configurable). If no normal levitation status is received, the onboard equipment will stop outputting data, and the levitation control test will be considered unsuccessful.

[0042] In some embodiments, it also includes: When the train is at zero speed and in a levitated state, a countdown is performed on the maximum static levitation time of the levitation control system. When the countdown ends, a drop control command is output to the suspension control system to cause the train to drop.

[0043] The static levitation duration of the levitation control system is limited. If the static levitation duration is too long, the levitation coil may overheat and burn out. Therefore, this embodiment activates levitation protection when the train is at zero speed. A countdown is performed on the maximum static levitation duration of the levitation control system, and a drop control command is output after the countdown ends to control the train to drop.

[0044] In some embodiments, it also includes: If the vehicle loses its levitation state when the train enters automatic driving mode, the train will be controlled to exit automatic driving mode.

[0045] This embodiment of the application considers the vehicle's levitation state when the train enters ATO mode. If the vehicle loses its levitation state, it exits ATO and requires manual intervention from the driver.

[0046] In summary, the levitation control method for maglev trains provided in this application automatically issues levitation commands (including levitation control commands and descent control commands) through the train control system. The train control system interacts with the levitation control system, receiving the number of levitation failure points sent by the levitation control system. If the number of levitation failure points exceeds or falls below a preset threshold, corresponding control strategies are implemented upon entering the station. Furthermore, the train control system interacts with the control center, controlling the levitation control system to perform descent and levitation operations or to continue train operation based on the interaction content. This reduces the burden of manual operation, improves operational safety, achieves fully unmanned operation, and effectively ensures the efficiency, reliability, and passenger experience of fully automated operation (GoA4 level), meeting the requirements of fully automated operation in smart urban rail transit. In addition, automatic levitation control makes the various processes of the train more compact and standardized, effectively shortening operation time, improving line throughput and on-time performance, and optimizing operational efficiency and reducing costs. Moreover, the automation of levitation control is a key prerequisite for achieving the highest level of driverless operation. This application ensures that the train completes all core operations without driver intervention, which is an important foundation for achieving GoA4 level fully automated operation.

[0047] This application also provides a levitation control device for a maglev train, which is described below and can be referred to in conjunction with the method described above. Please refer to... Figure 3 , Figure 3 This is a schematic diagram of a levitation control device for a maglev train provided in an embodiment of this application, combined with... Figure 3 As shown, the device includes: The receiving unit 10 is used to receive the number of suspension failure points sent by the suspension control system; The sending unit 20 is used to send information to the control center to confirm the abnormal suspension status after the train enters the station if the number of suspension failure points is greater than a preset threshold. The first control unit 30 is used to request confirmation of suspension anomaly from the control center if it receives target information sent by the control center; the target information indicates that the number of suspension failure points does not affect vehicle operation. The second control unit 40 is used to request confirmation of suspension abnormality from the control center, and if it receives the abnormality confirmation information sent by the control center, it controls the train to continue running. The third control unit 50 is used to send a drop control command and a buoyancy control command to the levitation control system after the train enters the station if the number of levitation failure points is less than the preset threshold, so as to control the levitation control system to perform drop operation and buoyancy operation. The fourth control unit 60 is used to control the train to continue running if it receives information from the levitation control system that the status has returned to normal after the levitation control system performs the dropping and levitation operations.

[0048] Based on the above embodiments, as a specific implementation method, it further includes: The stop unit is used to ignore the abnormal suspension feedback and control the train to continue running when it receives a suspension control bypass command sent by the control center, and to stop the suspension monitoring function. The recovery unit is used to restore the levitation monitoring function when it receives a levitation control bypass cancellation command sent by the control center.

[0049] Based on the above embodiments, as a specific implementation method, the train control system and the suspension control system communicate indirectly through an intermediate system; it also includes: The fourth control unit is used to control the train to automatically dock at the platform when the intermediate system communication is interrupted or malfunctions.

[0050] Based on the above embodiments, as a specific implementation method, it further includes: The first output unit is used to output a buoyancy control command to the buoyancy control system during the daily on-line inspection of the train for buoyancy control testing. The first determination unit is used to determine that the train levitation test is successful if a normal levitation state is collected. The second output unit is used to output a drop control command to the suspension control system. The second determination unit is used to determine that the train drop test was successful if the train is detected to be in a dropping state. The third judgment unit is used to determine whether the suspension control test is unqualified if the train buoyancy test fails and / or the train drop test fails. The fourth determination unit is used to prevent the train from going into service if the suspension control test fails.

[0051] Based on the above embodiments, as a specific implementation method, it further includes: The repeat unit is used to re-output the buoyancy control command if the normal buoyancy state is not acquired, until the buoyancy control command is output a preset number of times. If the normal buoyancy state is still not acquired after the buoyancy control command has been output, the buoyancy control test is determined to have failed.

[0052] Based on the above embodiments, as a specific implementation method, it further includes: The timing unit is used to count down the maximum static levitation time of the levitation control system when the train is at zero speed and in a levitation state. The third output unit is used to output a drop control command to the suspension control system when the countdown ends, so as to make the train drop.

[0053] Based on the above embodiments, as a specific implementation method, it further includes: The fifth control unit is used to control the train to exit the automatic driving mode if the vehicle loses its levitation state when the train enters the automatic driving mode.

[0054] The levitation control device for the maglev train provided in this application automatically issues levitation commands (including levitation control commands and descent control commands) from the train control system. The train control system interacts with the levitation control system, receiving the number of levitation failure points sent by the levitation control system. If the number of levitation failure points exceeds or falls below a preset threshold, corresponding control strategies are implemented upon entering the station. Furthermore, the train control system interacts with the control center, controlling the levitation control system to perform descent and levitation operations or to continue train operation based on the interaction content. This reduces the burden of manual operation, improves operational safety, achieves fully unmanned operation, effectively ensures the efficiency, reliability, and passenger experience of fully automated operation (GoA4 level), and meets the requirements of fully automated operation in smart urban rail transit.

[0055] This application also provides an electronic device, referenced... Figure 4 As shown, the device includes a memory 11 and a processor 12.

[0056] Memory 11 is used to store computer programs; Processor 12 is used to execute computer programs to perform the following steps: The system receives the number of levitation failure points sent by the levitation control system. If the number of levitation failure points is greater than a preset threshold, it sends information to the control center to confirm the abnormal levitation state after the train enters the station. If it receives target information sent by the control center, it requests confirmation of the levitation anomaly from the control center. The target information indicates that the number of levitation failure points does not affect the operation of the train. After requesting confirmation of the levitation anomaly from the control center, if it receives confirmation information from the control center, it controls the train to continue running. If the number of levitation failure points is less than the preset threshold, after the train enters the station, if it receives a remote reset and levitation command sent by the control center, it sends a drop control command and a levitation control command to the levitation control system to control the levitation control system to perform drop and levitation operations. After controlling the levitation control system to perform drop and levitation operations, if it receives feedback from the levitation control system that the status has returned to normal, it controls the train to continue running.

[0057] For a description of the equipment provided in this application, please refer to the above method embodiments; further details will not be provided here.

[0058] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the following steps: The system receives the number of levitation failure points sent by the levitation control system. If the number of levitation failure points is greater than a preset threshold, it sends information to the control center to confirm the abnormal levitation state after the train enters the station. If it receives target information sent by the control center, it requests confirmation of the levitation anomaly from the control center. The target information indicates that the number of levitation failure points does not affect the operation of the train. After requesting confirmation of the levitation anomaly from the control center, if it receives confirmation information from the control center, it controls the train to continue running. If the number of levitation failure points is less than the preset threshold, after the train enters the station, if it receives a remote reset and levitation command sent by the control center, it sends a drop control command and a levitation control command to the levitation control system to control the levitation control system to perform drop and levitation operations. After controlling the levitation control system to perform drop and levitation operations, if it receives feedback from the levitation control system that the status has returned to normal, it controls the train to continue running.

[0059] The computer-readable storage medium may include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0060] For a description of the computer-readable storage medium provided in this application, please refer to the above method embodiments; further details will not be repeated here.

[0061] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses, devices, and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant details can be found in the method section.

[0062] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0063] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0064] The levitation control method, apparatus, equipment, and storage medium for maglev trains provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of this application.

Claims

1. A levitation control method for a maglev train, characterized in that, Applied to train control systems, including: Receive the number of suspension failure points sent by the suspension control system; If the number of suspension failure points is greater than a preset threshold, information to confirm the abnormal suspension status will be sent to the control center after the train enters the station. After sending information to the control center to confirm the abnormal suspension status, if the target information sent by the control center is received, a request for confirmation of the suspension abnormality is made to the control center; the target information indicates that the number of suspension failure points does not affect vehicle operation. After requesting confirmation of suspension anomaly from the control center, if the train receives confirmation of anomaly from the control center, it will continue to operate. If the number of suspension failure points is less than the preset threshold, then after the train enters the station, if a remote reset and buoyancy command is received from the control center, a drop control command and a buoyancy control command are sent to the suspension control system to control the suspension control system to perform drop and buoyancy operations. After the suspension control system performs the dropping and buoyancy operations, if the system receives feedback that the status has returned to normal, the train will continue to run.

2. The suspension control method according to claim 1, characterized in that, Also includes: When the levitation feedback is abnormal and a levitation control bypass command is received from the control center, the levitation feedback abnormality is ignored, the train continues to run, and the levitation monitoring function is stopped. When a hover control bypass cancellation command is received from the control center, the hover monitoring function is restored.

3. The suspension control method according to claim 1, characterized in that, The train control system and the suspension control system communicate indirectly through an intermediate system; the suspension control method further includes: When the intermediate system communication is interrupted or malfunctions, the train is automatically stopped at the platform.

4. The suspension control method according to claim 1, characterized in that, Also includes: During the daily inspection of the train and the suspension control test, a buoyancy control command is output to the suspension control system. If a normal levitation state is detected, the train levitation test is considered successful. Output a drop control command to the suspension control system; If the train is detected to be in a falling state, the train falling test is considered successful. If the train buoyancy test fails and / or the train drop test fails, the suspension control test is deemed unqualified. If the suspension control test fails, the train will not be put into service.

5. The suspension control method according to claim 4, characterized in that, Also includes: If a normal levitation state is not detected, the levitation control command will be re-output until the preset number of levitation control commands are output. If a normal levitation state is still not detected after the preset number of levitation control commands are output, the levitation control test is deemed to have failed.

6. The suspension control method according to claim 1, characterized in that, Also includes: When the train is at zero speed and in a levitated state, a countdown is performed on the maximum static levitation time of the levitation control system. When the countdown ends, a drop control command is output to the suspension control system to cause the train to drop.

7. The suspension control method according to claim 1, characterized in that, Also includes: If the vehicle loses its levitation state when the train enters automatic driving mode, the train will be controlled to exit automatic driving mode.

8. A levitation control device for a maglev train, characterized in that, Applied to train control systems, including: The receiving unit is used to receive the number of suspension failure points sent by the suspension control system; The sending unit is used to send information to the control center to confirm the abnormal suspension status after the train enters the station if the number of suspension failure points is greater than a preset threshold. The first control unit is used to request confirmation of suspension anomaly from the control center if it receives target information sent by the control center; the target information indicates that the number of suspension failure points does not affect vehicle operation. The second control unit is used to request confirmation of suspension abnormality from the control center, and if it receives the abnormality confirmation information sent by the control center, it controls the train to continue running. The third control unit is used to send a drop control command and a buoyancy control command to the suspension control system after the train enters the station if the number of suspension failure points is less than the preset threshold, so as to control the suspension control system to perform drop operation and buoyancy operation. The fourth control unit is used to control the train to continue running if it receives feedback from the levitation control system that the status has returned to normal after the levitation control system performs the dropping and levitation operations.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the levitation control method for a maglev train as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the levitation control method for a maglev train as described in any one of claims 1 to 7.

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