A speed measurement positioning circuit, method and levitation vehicle

Abstract

The application discloses a kind of speed measurement positioning circuit, method and suspended vehicle, it includes range sensor, variable resistance element, magnetic sensor and gain adjustment control module.Range sensor is used to detect the suspension gap of suspended vehicle in real time and output corresponding electrical signal, variable resistance element receives the electrical signal and works in variable resistance area, magnetic sensor outputs the detection signal corresponding to magnetic nail, gain adjustment control module carries out gain adjustment to detection signal according to the current resistance of variable resistance element.By the structure, the gain of magnetic sensor signal can be adjusted when the suspension gap changes, the influence of too weak or too strong detection signal on magnetic nail detection is reduced, so as to improve the stability of speed measurement positioning signal under different suspension gap conditions.

Description

Technical Field

[0001] This invention relates to the field of suspension control, and in particular to a speed measurement and positioning circuit, method, and levitation vehicle. Background Technology

[0002] During the operation of a suspended permanent magnet maglev train, the suspension gap between the bogie and the track constantly changes due to factors such as track unevenness, vehicle load variations, and aerodynamic disturbances. Traditional magnetic nail detection methods typically employ fixed-gain magnetic sensor amplifier circuits. This fixed-gain design is prone to signal attenuation or saturation when the suspension gap fluctuates, severely impacting the reliability of magnetic nail detection and the train's speed measurement and positioning accuracy.

[0003] In the existing technology, some solutions perform DC bias superposition amplification on the magnetic sensor signal, which is only used for analog-to-digital conversion sampling and fails to achieve dynamic adjustment of the gain; other solutions improve the stability of the power circuit through voltage-controlled resistors, but the control signal comes from the internal node voltage of the circuit and is not an external physical quantity, so it is impossible to adjust the magnetic sensor gain in real time according to the suspension gap. Summary of the Invention

[0004] The purpose of this invention is to provide a speed measurement and positioning circuit, method, and levitated vehicle that can adjust the gain of the magnetic sensor signal when the levitation gap changes, reduce the influence of the detection signal being too weak or too strong on the magnetic nail detection, and thus improve the stability of the speed measurement and positioning signal under different levitation gap conditions.

[0005] To solve the above-mentioned technical problems, the present invention provides a speed measurement and positioning circuit, comprising:

[0006] Distance sensors are used to detect the suspension gap of the hovering vehicle in real time and output corresponding electrical signals;

[0007] A variable resistance element, the control terminal of which is connected to the ranging sensor, is used to receive and respond to the electrical signal and operate in the variable resistance region;

[0008] A magnetic sensor is used to detect the magnetic field generated by a magnetic nail and output a corresponding detection signal.

[0009] The gain adjustment control module has its input terminals connected to the variable resistor element and the magnetic sensor, respectively, and is used to adjust the gain of the detection signal according to the current resistance value of the variable resistor element.

[0010] Optionally, the variable resistor element is a metal-oxide-semiconductor field-effect transistor, with its gate serving as the control terminal and the resistance between its drain and source serving as the variable resistor.

[0011] Optionally, the metal-oxide-semiconductor field-effect transistor is an N-channel metal-oxide-semiconductor field-effect transistor or a P-channel metal-oxide-semiconductor field-effect transistor.

[0012] Optionally, the source of the metal-oxide-semiconductor field-effect transistor is connected to the input terminal of the gain adjustment control module, and the drain of the metal-oxide-semiconductor field-effect transistor is connected to the output terminal of the gain adjustment control module.

[0013] Optionally, the gain adjustment control module includes a variable gain amplifier circuit, the input terminal of which is connected to the output terminal of the magnetic sensor, and the output terminal of which is used to output the detection signal after gain adjustment; the variable resistance of the variable resistor element is connected to the feedback loop of the variable gain amplifier circuit.

[0014] Optionally, the variable gain amplifier circuit includes a first operational amplifier and a first resistor. The connection point between the inverting input terminal of the first operational amplifier and the first resistor serves as the input terminal of the variable gain amplifier circuit. The other end of the first resistor is connected to a power supply. The non-inverting input terminal of the first operational amplifier is grounded. The output terminal of the first operational amplifier serves as the output terminal of the variable gain amplifier circuit. The variable resistor element is connected between the output terminal and the inverting input terminal of the first operational amplifier.

[0015] Optionally, a first capacitor is connected in parallel between the output terminal and the inverting input terminal of the first operational amplifier.

[0016] Optionally, a differential amplifier circuit is also included, wherein the input terminal of the differential amplifier circuit is connected to the output terminal of the ranging sensor, and the output terminal of the differential amplifier circuit is connected to the control terminal of the variable resistor element, and the differential amplifier circuit is used to amplify the electrical signal.

[0017] Optionally, the input terminal of the differential amplifier circuit also receives a reference voltage. Specifically, the differential amplifier circuit is used to superimpose and amplify the electrical signal and the reference voltage to raise the voltage at the control terminal of the variable resistor element, so that the variable resistor element operates in the variable resistance region.

[0018] Optionally, the differential amplifier circuit includes a second operational amplifier, a second resistor, and a second capacitor. The inverting input terminal of the second operational amplifier is connected to the output terminal of the ranging sensor and one end of the second capacitor, respectively. The inverting input terminal of the second operational amplifier also receives the reference voltage. The non-inverting input terminal of the second operational amplifier is grounded through the second resistor. The output terminal of the second operational amplifier is connected to the control terminal of the variable resistor element and the other end of the second capacitor, respectively.

[0019] Optionally, the differential amplifier circuit further includes a third resistor disposed between the inverting input terminal of the second operational amplifier and the output terminal of the ranging sensor; and a fourth resistor disposed between the inverting input terminal of the second operational amplifier and the device that outputs the reference voltage.

[0020] Optionally, a fifth resistor is connected in series between the output terminal of the second operational amplifier and the control terminal of the variable resistor element.

[0021] To solve the above technical problems, the present invention provides a speed measurement and positioning adaptive adjustment method, comprising:

[0022] Obtain the electrical signal corresponding to the suspension gap of the suspended vehicle;

[0023] The variable resistor element is controlled to operate in the variable resistance region according to the electrical signal;

[0024] Acquire the detection signal output by the magnetic sensor;

[0025] The gain of the detection signal is adjusted according to the current resistance value of the variable resistor element;

[0026] Speed ​​measurement signals and / or positioning signals are generated based on the detection signals after gain adjustment.

[0027] Optionally, before controlling the variable resistor element to operate in the variable resistance region, the following additional steps are also included:

[0028] The electrical signal is superimposed on and amplified with a reference voltage to generate a control voltage;

[0029] The variable resistor element is driven using the control voltage.

[0030] Optionally, a speed measurement signal and / or a positioning signal are generated based on the gain-adjusted detection signal, including:

[0031] Based on the gain-adjusted detection signal, speed calculation and position estimation are performed, and the operating speed and position information of the levitated vehicle are output. The speed measurement signal is the operating speed, and the positioning signal is the position information.

[0032] Optionally, before adjusting the gain of the detection signal based on the current resistance value of the variable resistor element, the method further includes:

[0033] Determine whether the electrical signal is within a preset normal range;

[0034] When the electrical signal exceeds the normal range, the step of adjusting the gain of the detection signal according to the current resistance value of the variable resistor element is not performed.

[0035] When the electrical signal is within the normal range, the step of adjusting the gain of the detection signal according to the current resistance value of the variable resistor element is performed.

[0036] To solve the above-mentioned technical problems, the present invention provides a levitation vehicle, comprising:

[0037] Distance sensor;

[0038] Magnetic sensor;

[0039] The speed measurement and positioning circuit described above;

[0040] A processor; wherein the processor is configured to execute the steps of the speed measurement and positioning adaptive adjustment method as described above.

[0041] Optionally, the ranging sensor is a laser sensor, and the magnetic sensor is a Hall sensor.

[0042] Optionally, the ranging sensor and the magnetic sensor are integrated on the same circuit board.

[0043] Optionally, the emission point of the ranging sensor and the detection point of the magnetic sensor are located at the same horizontal position, the circuit board is mounted on the top of the bogie of the suspended vehicle, and the detection surface of the circuit board faces the magnetic nail module set on the track.

[0044] This invention provides a speed measurement and positioning circuit, method, and levitating vehicle, comprising a distance sensor, a variable resistor element, a magnetic sensor, and a gain adjustment control module. The distance sensor detects the levitating gap of the levitating vehicle in real time and outputs a corresponding electrical signal. The variable resistor element receives this electrical signal and operates in a variable resistance range. The magnetic sensor outputs a detection signal corresponding to a magnetic nail. The gain adjustment control module adjusts the gain of the detection signal based on the current resistance value of the variable resistor element. This structure allows for adjustment of the magnetic sensor signal gain when the levitating gap changes, reducing the impact of excessively weak or strong detection signals on magnetic nail detection, thereby improving the stability of the speed measurement and positioning signal under different levitating gap conditions. Attached Figure Description

[0045] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of a speed measurement and positioning circuit provided by the present invention;

[0047] Figure 2A circuit diagram of a speed measurement and positioning circuit provided by the present invention;

[0048] Figure 3 A flowchart of a speed measurement and positioning adaptive adjustment method provided by the present invention;

[0049] Figure 4 This is a schematic diagram of the speed measurement and positioning signal processing relationship provided by the present invention. Detailed Implementation

[0050] The core of this invention is to provide a speed measurement and positioning circuit, method, and levitation vehicle, which can adjust the gain of the magnetic sensor signal when the suspension gap changes, reduce the influence of the detection signal being too weak or too strong on the magnetic nail detection, thereby improving the stability of the speed measurement and positioning signal under different suspension gap conditions.

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0052] like Figure 1 To solve the above-mentioned technical problems, the present invention provides a speed measurement and positioning circuit, comprising:

[0053] The ranging sensor 11 is used to detect the suspension gap of the suspended vehicle in real time and output the corresponding electrical signal;

[0054] The variable resistance element 12, whose control terminal is connected to the ranging sensor 11, is used to receive and respond to electrical signals and operate in the variable resistance region;

[0055] Magnetic sensor 14 is used to detect the magnetic field generated by the magnetic nail and output the corresponding detection signal;

[0056] The gain adjustment control module 13 has its input terminals connected to the variable resistor element 12 and the magnetic sensor 14, respectively, and is used to adjust the gain of the detection signal according to the current resistance value of the variable resistor element 12.

[0057] In this embodiment, a speed measurement and positioning circuit is provided, which is applied to the speed measurement and positioning system of a levitated vehicle. It is used to adaptively adjust the magnetic nail detection signal according to the changes in the suspension gap during the operation of the levitated vehicle, so as to improve the stability and reliability of the speed measurement and positioning signal.

[0058] like Figure 1As shown, the speed measurement and positioning circuit of this embodiment includes a distance sensor 11, a variable resistor element 12, a magnetic sensor 14, and a gain adjustment control module 13.

[0059] The ranging sensor 11 is used to detect the suspension gap of the levitated vehicle in real time and output the corresponding electrical signal. The suspension gap refers to the distance between the levitated vehicle and the track. Due to the influence of track conditions, vehicle load, and external environment during operation, the suspension gap changes dynamically. The ranging sensor 11 continuously acquires information on the changes in the suspension gap and converts the detected gap into a corresponding electrical signal output. The electrical signal characterizes the current change in the size of the suspension gap, thus providing a control basis for subsequent gain adjustment.

[0060] The control terminal of the variable resistor element 12 is connected to the ranging sensor 11, and is used to receive and respond to electrical signals and operate in the variable resistance region. Specifically, the electrical signal output by the ranging sensor 11 is transmitted to the control terminal of the variable resistor element 12. The variable resistor element 12 changes its resistance value according to the received electrical signal, establishing a correlation between its current resistance value and the electrical signal corresponding to the suspension gap. When the suspension gap changes, the electrical signal output by the ranging sensor 11 changes accordingly, and the resistance value of the variable resistor element 12 is adjusted accordingly, thereby realizing the conversion of suspension gap information into resistance parameters.

[0061] The magnetic sensor 14 is used to detect the magnetic field generated by the magnetic nail and output a corresponding detection signal. Specifically, when the levitated vehicle runs along the track and passes the magnetic nail on the track, the magnetic sensor 14 senses the change in the magnetic field generated by the magnetic nail and outputs a detection signal. Since the change in the levitation gap affects the relative distance between the magnetic sensor 14 and the magnetic nail, the amplitude of the detection signal may change. When the levitation gap increases, the magnetic field strength may weaken, and the amplitude of the detection signal decreases; when the levitation gap decreases, the magnetic field strength may increase, and the amplitude of the detection signal increases.

[0062] The input terminals of the gain adjustment control module 13 are connected to the variable resistor element 12 and the magnetic sensor 14, respectively, and are used to adjust the gain of the detection signal according to the current resistance value of the variable resistor element 12. Specifically, the gain adjustment control module 13 receives the detection signal output by the magnetic sensor 14 and simultaneously obtains the current resistance value information of the variable resistor element 12. Since the resistance value of the variable resistor element 12 is related to the electrical signal corresponding to the suspension gap, the gain adjustment control module 13 can determine the corresponding gain adjustment parameter according to the current resistance value and use the gain adjustment parameter to process the detection signal to obtain the gain-adjusted detection signal.

[0063] In this embodiment, the ranging sensor 11 senses changes in the suspension gap in real time, and the variable resistor element 12 converts these changes into resistance changes. The gain adjustment control module 13 then adjusts the gain of the detection signal output by the magnetic sensor 14 based on the resistance change, thus forming a step-by-step adjustment process of suspension gap detection, resistance change, and gain adjustment. When the suspension gap changes, the gain adjustment control module 13 can synchronously adjust the gain of the detection signal, keeping it within a suitable amplitude range for subsequent processing, improving the stability of the magnetic nail detection signal, and consequently improving the accuracy and reliability of the speed measurement and positioning results.

[0064] During a specific operation, the ranging sensor 11 continuously acquires information about the suspension gap and outputs a corresponding electrical signal. The variable resistor element 12 adjusts its resistance value according to the electrical signal. The magnetic sensor 14 continuously detects the track magnetic nails and outputs a detection signal. The gain adjustment control module 13 dynamically adjusts the gain of the detection signal according to the current resistance value of the variable resistor element 12. The adjusted detection signal can be further used for subsequent speed measurement or positioning processing. Through the above methods, the system can adapt to the dynamic changes in the suspension gap during the operation of the levitated vehicle, improving the adaptability of the speed measurement and positioning system under different operating conditions.

[0065] Furthermore, the suspension gap in this embodiment is not fixed but dynamically changes with the operating state of the suspended vehicle. For example, changes in vehicle load, track smoothness, operation on curved sections, acceleration and deceleration processes, and external vibrations can all cause fluctuations in the relative distance between the suspended vehicle and the track. When the suspension gap changes, the spatial distance between the magnetic sensor 14 and the track magnetic nails also changes, and the magnetic field strength changes accordingly with the distance. Therefore, the amplitude of the detection signal output by the magnetic sensor 14 is usually not constant. In other words, even if the magnetic nails on the track remain consistent, the detection signals obtained under different suspension gap conditions may still show significant differences.

[0066] This embodiment utilizes the ranging sensor 11 to acquire information about changes in the suspension gap and incorporates this information into the detection signal adjustment process. When the suspension gap changes, the ranging sensor 11 first detects the corresponding distance change and outputs an electrical signal corresponding to the current suspension gap. This electrical signal does not directly participate in speed measurement and positioning but serves as a basis for gain adjustment in subsequent processing. Because there is a correspondence between the electrical signal and the suspension gap, the variable resistor element 12 can generate a resistance change corresponding to the change in the suspension gap based on the electrical signal, thus converting the suspension gap information into circuit parameter change information.

[0067] Furthermore, after receiving the detection signal and the current resistance value of the variable resistor element 12, the gain adjustment control module 13 does not process the detection signal using a fixed gain method, but dynamically determines the degree of adjustment of the detection signal based on the current resistance value. When the levitation gap increases, causing the output amplitude of the magnetic sensor 14 to decrease, the gain adjustment control module 13 can increase the detection signal amplitude according to the corresponding resistance change; when the levitation gap decreases, causing the output amplitude of the magnetic sensor 14 to increase, the gain adjustment control module 13 can decrease the detection signal amplitude according to the corresponding resistance change. In this way, the detection signals obtained under different levitation gap conditions can maintain a relatively close amplitude range.

[0068] It is understood that the gain adjustment control module 13 in this embodiment can be implemented using, but is not limited to, analog circuitry, or a combination of analog and digital methods. As long as the detection signal can be adjusted based on the current resistance value of the variable resistor element 12, it is applicable to this application. In some embodiments, the gain adjustment control module 13 can directly change the signal amplification factor using resistance changes; in other embodiments, it can also change signal processing parameters or signal transmission ratio based on resistance changes. The specific implementation form does not constitute a limitation.

[0069] From the perspective of the entire signal transmission process, this embodiment establishes a correlation between suspension gap detection, gap information conversion, resistance change, and detection signal adjustment. During the operation of the levitated vehicle, changes in the suspension gap are reflected in the resistance change of the variable resistor element 12 in real time, and further affect the detection signal adjustment process. This allows the detection signal to adaptively change according to the actual operating state, rather than always using fixed parameters. Therefore, even in an operating environment where the suspension gap continuously changes, the detection signal can still maintain good recognizability, providing a stable signal foundation for subsequent speed measurement and positioning processing.

[0070] Furthermore, compared to methods that rely solely on subsequent software algorithms for compensation, this embodiment completes gain adjustment before the detection signal enters the subsequent processing unit. Since the detection signal has already undergone amplitude correction based on the change in suspension gap during the simulation stage, it maintains a suitable signal strength when entering the subsequent processing stage. When the output signal of the magnetic sensor 14 is weak, it avoids the signal being overwhelmed by noise; when the output signal of the magnetic sensor 14 is strong, it avoids saturation in the subsequent processing circuit. Therefore, this embodiment can adapt to the changes in suspension gap under different operating conditions of the suspended vehicle, improve the stability of the magnetic nail detection process, and provide a reliable data source for speed measurement and positioning results.

[0071] In a preferred embodiment, the variable resistor element 12 is a metal-oxide-semiconductor field-effect transistor Q1, with its gate serving as the control terminal and the resistance between its drain and source serving as the variable resistor.

[0072] In this embodiment, the variable resistor element 12 is a metal-oxide-semiconductor field-effect transistor Q1 (MOS transistor). For example... Figure 2 As shown, the metal-oxide-semiconductor field-effect transistor Q1 includes a gate, a drain, and a source. The gate serves as the control terminal of the variable resistor element 12 and is directly connected to the output terminal of the ranging sensor 11. The electrical signal output by the ranging sensor 11 acts on the MOSFET through the gate, causing it to operate in the variable resistance region. The variable resistance region refers to the continuously adjustable resistance between the drain and source of the MOSFET under the influence of the gate voltage.

[0073] In this embodiment, the resistance between the drain and source of the MOSFET is the resistance of the variable resistor element 12. Specifically, when the electrical signal corresponding to the floating gap is large, the voltage applied to the gate increases, causing the on-resistance of the MOSFET to decrease accordingly; when the electrical signal corresponding to the floating gap is small, the gate voltage decreases, causing the on-resistance of the MOSFET to increase. In this way, the resistance of the MOSFET can continuously respond to the change in the floating gap, realizing the mapping from the floating gap to the resistance value.

[0074] In terms of circuit connection, the output terminal of the ranging sensor 11 is directly connected to the gate of the MOSFET, ensuring that the electrical signal can accurately control the resistance change of the MOSFET. The drain and source of the MOSFET are connected to the input and output terminals of the gain adjustment control module 13, respectively. The specific connection method will be described in subsequent embodiments, so that the variable resistance value can be used to adjust the gain of the subsequent detection signal.

[0075] It is important to understand that in this embodiment, the metal-oxide-semiconductor field-effect transistor Q1 is not used as a switching device, but rather operates in the variable resistance region. When the gate receives a control voltage, an electric field is formed between the gate and source, causing a change in the carrier concentration in the semiconductor channel, thus creating a conductive channel between the drain and source. As the gate voltage changes continuously, the width of the conductive channel changes synchronously, therefore the on-resistance between the drain and source changes continuously.

[0076] This embodiment can be understood as utilizing the voltage control characteristics of the metal-oxide-semiconductor field-effect transistor Q1 to directly convert the voltage change received at the control terminal into a change in drain-source resistance. Unlike operating the device in a fully on or off state, this embodiment keeps the metal-oxide-semiconductor field-effect transistor Q1 in a continuously changing conduction state, thereby allowing the drain-source resistance to be continuously adjusted according to the control signal.

[0077] With the configuration of this embodiment, the levitation gap information can be transmitted to the gain adjustment control module 13 through the resistance change of the MOSFET, enabling the circuit to adaptively adjust the gain of the signal detected by the magnetic sensor 14. Throughout the process, the resistance of the MOSFET changes dynamically with the levitation gap, achieving continuously adjustable gain control and providing a stable input for subsequent speed measurement and positioning signal processing.

[0078] In this embodiment, a metal-oxide-semiconductor field-effect transistor (MOSFET) Q1 is used as the variable resistor element 12, mainly utilizing its high input impedance and low control current. The electrical signal output by the ranging sensor 11 can directly act on the gate without significantly affecting the load on the ranging sensor 11, thus maintaining the original variation characteristics of the electrical signal corresponding to the floating gap.

[0079] Meanwhile, the drain-source resistance of the metal-oxide-semiconductor field-effect transistor Q1 can continuously vary within a certain range, thus generating a continuously changing resistance output based on the changes in the suspension gap, rather than producing only a limited number of fixed resistance states. For the constantly changing suspension gap during the operation of the levitated vehicle, this method can more realistically reflect the changes in the suspension gap.

[0080] In terms of implementation, the variable resistor in this embodiment does not use a mechanically adjustable potentiometer, nor does it rely on a digital control chip to switch between multiple resistance levels. Instead, it utilizes the electrical characteristics of the metal-oxide-semiconductor field-effect transistor Q1 itself to achieve continuous resistance variation. When the floating gap changes, the corresponding electrical signal can directly drive the metal-oxide-semiconductor field-effect transistor Q1 to change its drain-source resistance, without the need for digital calculations or level switching.

[0081] Therefore, a direct correlation exists between changes in the suspension gap and changes in resistance, allowing the resistance adjustment process to follow the changes in the suspension gap in real time. During high-speed operation of the levitated vehicle, this method can respond quickly to changes in the suspension gap, providing continuously changing control parameters for subsequent adjustment of the detection signal gain.

[0082] In a preferred embodiment, the metal-oxide-semiconductor field-effect transistor Q1 is an N-channel metal-oxide-semiconductor field-effect transistor or a P-channel metal-oxide-semiconductor field-effect transistor.

[0083] In this embodiment, the channel type of the metal-oxide-semiconductor field-effect transistor Q1 can be selected according to the specific circuit design.

[0084] In this embodiment, the metal-oxide-semiconductor field-effect transistor Q1 can be an N-channel metal-oxide-semiconductor field-effect transistor or a P-channel metal-oxide-semiconductor field-effect transistor, as long as the on-resistance between the drain and the source can be changed according to the control signal received by the gate.

[0085] In operation, the ranging sensor 11 continuously detects the floating gap and outputs a corresponding electrical signal, which is applied to the gate of the metal-oxide-semiconductor field-effect transistor Q1. As the gate voltage changes, a corresponding conduction channel is formed between the drain and source, and the degree of conduction changes, thereby changing the resistance between the drain and source. Since there is a correlation between this resistance and the gate voltage, the resistance can be continuously adjusted using the electrical signal corresponding to the floating gap.

[0086] By using a metal-oxide-semiconductor field-effect transistor Q1 as a variable resistor element 12, the resistance value can be adjusted by utilizing the voltage control characteristics of the semiconductor device itself, eliminating the need for a mechanical adjustment structure, thereby meeting the requirement for continuous resistance change during the dynamic change of the suspension gap.

[0087] In a preferred embodiment, the source of the metal-oxide-semiconductor field-effect transistor Q1 is connected to the input terminal of the gain adjustment control module 13, and the drain of the metal-oxide-semiconductor field-effect transistor Q1 is connected to the output terminal of the gain adjustment control module 13.

[0088] In this embodiment, the source of the metal-oxide-semiconductor field-effect transistor Q1 is connected to the input terminal of the gain adjustment control module 13, and the drain of Q1 is connected to the output terminal of the gain adjustment control module 13. This connection method ensures that the electrical signal output by the ranging sensor 11 can adjust the drain-source resistance in real time through the gate, and the change in resistance directly affects the signal amplitude within the module. Depending on the specific circuit layout, this variable resistor can be placed at the input terminal of the amplifier preamplifier or in the feedback loop to achieve different gain adjustment effects.

[0089] Specifically, the variable resistance formed between the drain and source of the metal-oxide-semiconductor field-effect transistor Q1 is located in the signal transmission path inside the gain adjustment control module 13. When the gate of the metal-oxide-semiconductor field-effect transistor Q1 receives the electrical signal output by the ranging sensor 11, its drain-source resistance changes, and this resistance change is transmitted to the input and output terminals of the gain adjustment control module 13 through the source and drain, respectively.

[0090] During operation, as the suspension gap changes, the electrical signal output by the ranging sensor 11 changes, causing a change in the drain-source resistance. Since the drain-source resistance is located in the circuit path corresponding to the gain adjustment control module 13, it can participate in the adjustment process of the detection signal, enabling the gain adjustment control module 13 to process the detection signal according to the current resistance value.

[0091] In this embodiment, the metal-oxide-semiconductor field-effect transistor Q1 operates in the variable resistance region rather than the switching region. After the gate receives the analog electrical signal output by the ranging sensor 11, an electric field is formed between the gate and the source. The carrier concentration in the channel changes continuously with the voltage, resulting in a continuous change in the drain-source resistance value with the gate voltage. By adjusting the gate voltage, the drain-source resistance can be precisely controlled and made continuously adjustable within a certain range, thereby corresponding to the real-time changes in the floating gap.

[0092] Since the drain-source resistor is located in the signal transmission path of the gain adjustment control module 13, the detection signal is affected by the resistance value when passing through this path, thus achieving continuous adjustment of the signal amplitude. In other words, changes in the floating gap, changes in the ranging signal, changes in the drain-source resistance of the MOS transistor, and changes in the amplitude of the detection signal enable the gain adjustment control module 13 to adjust the gain of the detection signal in real time according to the current resistance value, achieving a closed-loop continuous response.

[0093] Unlike traditional methods that use mechanical or digital potentiometers, this embodiment achieves a continuously adjustable resistor through the voltage control characteristics of a metal-oxide-semiconductor (MOSFET) Q1. Changes in the suspension gap directly drive changes in the drain-source resistance, eliminating the need for digital switching or mechanical adjustment. Therefore, the adjustment process is fast, continuous, and responsive in real time, making it suitable for the high-speed changes required during the operation of levitated vehicles. This embodiment utilizes the voltage control characteristics of the MOSFET Q1 to achieve a continuously adjustable resistor. As the control voltage corresponding to the suspension gap changes, the drain-source resistance changes continuously, and the detection signal gain is continuously adjusted through a feedback loop.

[0094] Through the above connection method, the information corresponding to the suspension gap can be directly introduced into the gain adjustment control module 13 to realize the correlation between the resistance change and the detection signal adjustment.

[0095] In a preferred embodiment, the gain adjustment control module 13 includes a variable gain amplifier circuit, the input terminal of which is connected to the output terminal of the magnetic sensor 14, and the output terminal of which is used to output the detection signal after gain adjustment; the variable resistance of the variable resistor element 12 is connected to the feedback loop of the variable gain amplifier circuit.

[0096] In this embodiment, the gain adjustment control module 13 includes a variable gain amplifier circuit. The input terminal of the variable gain amplifier circuit is connected to the output terminal of the magnetic sensor 14, and is used to receive the detection signal output by the magnetic sensor 14. The output terminal of the variable gain amplifier circuit is used to output the detection signal after gain adjustment.

[0097] Simultaneously, the variable resistance of the variable resistor element 12 is connected to the feedback loop of the variable gain amplifier circuit. During operation, the magnetic sensor 14 detects changes in the magnetic field generated by the magnetic nail and outputs a detection signal, which is then processed by the variable gain amplifier circuit. The resistance change generated by the variable resistor element 12 is introduced into the feedback loop, causing a change in the impedance of the feedback loop.

[0098] Since the amplification factor is related to the feedback loop parameters, the gain of the variable gain amplifier circuit changes accordingly when the resistance of the variable resistor element 12 changes. Thus, the resistance change caused by the change in the floating gap can be further converted into a gain change, achieving adaptive adjustment of the detection signal.

[0099] In this embodiment, the variable resistor is not placed in the main transmission path of the detection signal, but is instead connected to the feedback loop of the variable gain amplifier circuit. This configuration is because the feedback loop parameters directly determine the closed-loop gain characteristics of the amplifier circuit. Therefore, when the resistance of the variable resistor element 12 changes, the amplification factor of the amplifier circuit also changes synchronously. In other words, this embodiment does not directly change the output signal of the magnetic sensor 14 itself, but adjusts the amplification capability by changing the feedback strength of the feedback loop, allowing the detection signal to complete amplitude correction before entering subsequent processing stages. Since the resistance change process in the feedback loop is continuous, the corresponding gain change process is also continuous, making the adjustment process of the detection signal smoother and avoiding the abrupt changes caused by switching between fixed ranges.

[0100] Furthermore, during the operation of the levitated vehicle, the suspension gap typically fluctuates continuously with changes in vehicle load, track condition, and operating conditions. When the suspension gap increases, the distance between the magnetic sensor 14 and the magnetic nail increases, and the magnetic field strength received by the magnetic sensor 14 may decrease, resulting in a decrease in the amplitude of the detection signal. Conversely, when the suspension gap decreases, the magnetic field coupling strengthens, and the amplitude of the detection signal may increase. In this embodiment, a variable resistor element 12 is used to convert the change in suspension gap into a change in resistance, and a feedback loop is used to convert the change in resistance into a change in amplification factor, thereby establishing a correspondence between the change in suspension gap and the change in gain. When the detection signal tends to weaken, the variable gain amplifier circuit can correspondingly increase the amplification factor; when the detection signal tends to strengthen, the variable gain amplifier circuit can correspondingly decrease the amplification factor, ensuring that the output signal remains within a relatively stable amplitude range.

[0101] From the perspective of signal processing, the adjustment process in this embodiment occurs during the analog signal processing stage. After the magnetic sensor 14 outputs the detection signal, it does not need to undergo analog-to-digital conversion, digital calculation, and software compensation processing. Instead, it directly uses the resistance change in the feedback loop to complete the gain adjustment. In other words, the levitation gap information can directly participate in the amplification process of the detection signal, forming a real-time correlation between the levitation gap, resistance change, and gain change. Compared with the method of relying on the back-end processor for software compensation, the gain adjustment in this embodiment occurs earlier. The amplitude adjustment of the detection signal is completed before it enters the subsequent speed measurement and positioning processing. Therefore, it can avoid the problem of signal-to-noise ratio drop after weak signals enter the subsequent processing link, and it can also avoid saturation or distortion of strong signals.

[0102] In a preferred embodiment, the variable gain amplifier circuit includes a first operational amplifier U3A and a first resistor R6. The connection point between the inverting input terminal of the first operational amplifier U3A and the first resistor R6 serves as the input terminal of the variable gain amplifier circuit. The other end of the first resistor R6 is connected to a power supply. The non-inverting input terminal of the first operational amplifier U3A is grounded. The output terminal of the first operational amplifier U3A serves as the output terminal of the variable gain amplifier circuit. The variable resistor element 12 has a variable resistance connected between the output terminal and the inverting input terminal of the first operational amplifier U3A.

[0103] In this embodiment, the first operational amplifier U3A, the first resistor R6, and the variable resistor together form a variable gain amplifier circuit. The first resistor R6 is used to establish the input channel for the input signal to enter the operational amplifier, while the variable resistor participates in the construction of the feedback channel. Since there is a corresponding relationship between the amplification factor of the operational amplifier and the parameters of the input channel and the feedback channel when it operates in closed-loop mode, when the resistance value of the variable resistor changes, the feedback quantity corresponding to the feedback channel also changes, thereby causing a change in the amplification factor of the variable gain amplifier circuit. This embodiment does not achieve gain adjustment by switching multiple fixed gain levels, but rather utilizes the continuous change characteristic of the variable resistor to achieve continuous change in amplification factor. Therefore, the gain adjustment process is smoother and there will be no abrupt changes during level switching.

[0104] Furthermore, during operation, the first operational amplifier U3A continuously adjusts its output state based on the feedback signal returned from the feedback channel, maintaining a dynamic balance at the inverting input. When the variable resistor value increases, the feedback effect in the feedback channel changes, and the corresponding adjustment range of the operational amplifier's output also changes; when the variable resistor value decreases, the feedback effect in the feedback channel changes synchronously, and the operational amplifier output reaches a new balance state again. In other words, this embodiment does not directly control the input signal, but indirectly changes the gain characteristics of the amplifier circuit by changing the parameters of the feedback channel. Therefore, the input signal path and the gain control path are relatively independent of each other, and the waveform structure and basic characteristics of the detection signal itself are not directly changed during gain adjustment.

[0105] From a circuit implementation perspective, the first operational amplifier U3A can be, but is not limited to, a general-purpose operational amplifier, a low-noise operational amplifier, or a high-speed operational amplifier; the first resistor R6 can be selected with different resistance values ​​according to the target gain range; and the variable resistor can be continuously varied within a certain range according to actual needs. Through this implementation, this embodiment can directly map the resistance change of the variable resistor to a change in the amplification factor, enabling continuous response capability in the gain adjustment process. When the amplitude of the input detection signal fluctuates, the circuit can automatically form a new amplification state based on the changes in the feedback channel parameters, keeping the output signal within the expected processing range. This method of using feedback parameter changes to achieve gain adjustment is significantly different from simply relying on subsequent digital processing for compensation. Its adjustment process occurs during the analog signal processing stage; the amplitude adjustment is completed before the detection signal enters the subsequent processing unit, thus reducing the impact of signals that are too weak or too strong during subsequent processing.

[0106] Furthermore, in this embodiment, the variable resistor is placed between the output terminal and the inverting input terminal of the first operational amplifier U3A, allowing the variable resistor to directly participate in the closed-loop feedback process, rather than being placed in the input path to attenuate the detected signal. For the operational amplifier, the feedback loop determines the closed-loop operating state and the corresponding amplification factor; therefore, changes in the resistance value in the feedback loop can directly affect the gain adjustment process of the amplifier circuit. When the resistance value of the variable resistor element 12 changes, the feedback current and feedback voltage change synchronously. In order to re-establish the dynamic balance relationship between the input terminals, the first operational amplifier U3A will automatically adjust the output voltage, allowing the entire circuit to enter a new stable operating state. Therefore, the gain change in this embodiment does not originate from the change in the input signal itself, but from the change in closed-loop characteristics caused by the change in feedback parameters.

[0107] Furthermore, in this embodiment, the first resistor R6 maintains a fixed parameter, while the variable resistor remains continuously adjustable. Therefore, the amplification factor is mainly affected by the change in the resistance value of the feedback loop. During the operation of the levitated vehicle, changes in the suspension gap correspond to different control signals. The variable resistor element 12 generates different resistance values ​​according to the control signals, and this resistance change directly acts on the feedback loop, causing the amplification factor to change synchronously. In other words, this embodiment establishes a one-to-one correspondence between the suspension gap and the amplification factor. When the suspension gap changes, no additional calculation unit is required for processing, nor is it necessary to pre-establish multiple gain levels for switching. Instead, the amplification factor is adjusted using the feedback adjustment capability of the analog circuit itself, allowing the gain change to follow the change in suspension gap in real time.

[0108] From a signal processing perspective, the detection signal output by the magnetic sensor 14 first enters the first operational amplifier U3A for amplification, while the information corresponding to the suspension gap participates in feedback control through a variable resistor. These two types of information reside in the signal path and control path, respectively. The detection signal characterizes the magnetic nail detection result, while the variable resistor characterizes the change in suspension gap; the two form a correlation at the feedback loop. Therefore, this embodiment can maintain the original waveform and timing characteristics of the detection signal while automatically adjusting the amplification capability according to changes in the suspension gap. For conditions such as track irregularities, vehicle load changes, or fluctuations in suspension height, this method ensures that the output signal of the magnetic sensor 14 maintains a relatively stable amplitude level, avoiding excessively weak or strong detection signals due to changes in the suspension gap.

[0109] Furthermore, in this embodiment, the first operational amplifier U3A operates in a closed-loop negative feedback state. When the detection signal fluctuates, the feedback loop continuously returns the output information to the inverting input terminal for computation, and the first operational amplifier U3A continuously corrects its output state based on the feedback result. Since the variable resistor is located inside the feedback loop, the feedback strength changes synchronously with the change in the suspension gap, thus forming a dynamically adjustable closed-loop gain. Compared with an amplifier circuit that uses a fixed feedback resistor to form a fixed gain, the amplification factor in this embodiment is no longer a pre-set fixed value, but can continuously change with the operating state, making it more suitable for application scenarios where the suspension gap changes continuously during the operation of a levitated vehicle.

[0110] In a preferred embodiment, a first capacitor C4 is connected in parallel between the output terminal of the first operational amplifier U3A and the inverting input terminal of the first operational amplifier U3A.

[0111] In this embodiment, the first capacitor C4 and the feedback path jointly participate in the dynamic adjustment process of the first operational amplifier U3A. Since the input signal is not always stable during actual operation, it may contain transient pulses, high-frequency noise, or rapidly changing components. If the feedback path consists only of resistors, these high-frequency components will directly participate in the amplification process, causing jitter or fluctuations in the output signal. After the introduction of the first capacitor C4, its impedance changes with the signal frequency. For lower-frequency effective signals, the first capacitor C4 exhibits a larger impedance, having a smaller impact on the feedback process; while for higher-frequency interference components, the first capacitor C4 exhibits a smaller impedance, at which point some high-frequency signals will form a feedback path through the first capacitor C4. In other words, this embodiment utilizes the different response characteristics of the first capacitor C4 to different frequency signals, so that the feedback path no longer depends solely on the resistor parameters but is also affected by frequency factors, enabling the first operational amplifier U3A to produce differentiated responses to high-frequency interference and effective signals.

[0112] Furthermore, from a dynamic response perspective, the first capacitor C4 also participates in the establishment of the output state of the first operational amplifier U3A. When the input signal changes rapidly, the first operational amplifier U3A needs to readjust its output and establish a new equilibrium state. The first capacitor C4, with its charge storage characteristics, provides a buffering effect during charging and discharging, making the feedback change process more continuous. Thus, when the input signal experiences a sudden change or short-term fluctuation, the output signal does not immediately follow with the same amplitude change, but rather gradually adjusts with the participation of the first capacitor C4. In this embodiment, the first capacitor C4 can be, but is not limited to, a ceramic capacitor, a film capacitor, or other capacitors suitable for feedback compensation, and its capacitance can be set according to the target frequency range. For example, in scenarios where the magnetic field detection signal changes relatively slowly and environmental electromagnetic interference is strong, the capacitance of the first capacitor C4 can be appropriately increased to enhance the suppression of high-frequency interference components; while in scenarios requiring a faster response speed, a smaller capacitance first capacitor C4 can be selected to balance dynamic response speed and feedback stability.

[0113] Furthermore, the first capacitor C4 and the variable resistor together form a comprehensive adjustment function in the feedback path. The gain of the low-frequency effective signal is mainly controlled by the variable resistor, while high-frequency noise is rapidly fed back through the first capacitor C4. This allows the gain to adapt to changes in the floating gap while suppressing high-frequency interference. The first capacitor C4 acts on the feedback loop, not directly changing the input signal waveform, but indirectly adjusting the amplification factor by influencing the closed-loop feedback characteristics, so that the output signal maintains the characteristics of the input signal while suppressing interference.

[0114] By introducing a first capacitor C4 into the feedback path, this embodiment not only involves simple filtering, but also adds frequency response adjustment capability to the feedback characteristics, enabling the first operational amplifier U3A to form different feedback states under different frequency conditions.

[0115] In a preferred embodiment, a differential amplifier circuit is also included. The input terminal of the differential amplifier circuit is connected to the output terminal of the ranging sensor 11, and the output terminal of the differential amplifier circuit is connected to the control terminal of the variable resistor element 12. The differential amplifier circuit is used to amplify the electrical signal.

[0116] In this embodiment, a differential amplifier circuit is positioned between the ranging sensor 11 and the variable resistor element 12. Its function is not merely to amplify the electrical signal, but to preprocess the electrical signal output by the ranging sensor 11 before using it as a control signal. Since the electrical signal output by the ranging sensor 11 typically changes with the suspension gap, in practical applications, different ranging sensors 11 may have different output ranges, sensitivities, and voltage change amplitudes. For example, some ranging sensors 11 may only output a small voltage change across the entire measurement range, while the variable resistor element 12 may require a larger control voltage change range when adjusting its resistance. In such cases, directly using the raw electrical signal output by the ranging sensor 11 to control the variable resistor element 12 may result in insignificant resistance changes or insufficient adjustment range. This embodiment addresses this by using a differential amplifier circuit to adjust the amplitude of the electrical signal output by the ranging sensor 11, allowing the signal changes to be more fully transmitted to the variable resistor element 12, thus improving the correlation between the electrical signal and the resistance change.

[0117] Furthermore, the differential amplifier circuit also serves as a signal converter and matcher. The electrical signal output by the ranging sensor 11 essentially reflects the change in the suspension gap, and this signal is subsequently used to control the resistance change of the variable resistor element 12. Therefore, a relatively stable correspondence needs to be established between the two. The differential amplifier circuit can be, but is not limited to, a differential amplifier structure composed of operational amplifiers, or an instrumentation amplifier structure or other analog circuit structures with differential processing capabilities. By amplifying the input signal, a relatively significant voltage change can be obtained at the control terminal when the suspension gap changes slightly; while when the suspension gap changes significantly, the control signal can still maintain a sufficient range of change. In this way, a clearer correspondence is formed between the resistance change process of the variable resistor element 12 and the suspension gap change process, providing a basis for subsequent gain adjustment based on resistance changes. From the perspective of the entire signal transmission process, this embodiment is equivalent to adding a signal adaptation layer between the ranging sensor 11 and the variable resistor element 12, enabling the ranging information to participate in the entire gain control process in a form more suitable for subsequent adjustment.

[0118] Furthermore, the differential amplifier circuit in this embodiment is used not only to increase the amplitude of the electrical signal, but also to expand the mapping range of the suspension gap change in the control voltage. It can be understood that the change in suspension gap during the operation of the levitated vehicle is usually small, while the amplitude of the output signal of the magnetic sensor 14 may fluctuate significantly with the change in suspension gap. If the amplitude of the electrical signal output by the ranging sensor 11 is insufficient, the corresponding resistance change of the variable resistor element 12 will also be relatively limited, resulting in insufficient gain adjustment. This embodiment uses a differential amplifier circuit to proportionally amplify the electrical signal, enabling the originally small suspension gap change to be converted into a more significant control voltage change, allowing the variable resistor element 12 to be continuously adjusted within a wider resistance range. Therefore, the correspondence between suspension gap change and gain change is clearer, and the gain adjustment process can cover a wider range of operating conditions.

[0119] Furthermore, from a signal link perspective, the differential amplifier circuit essentially establishes an intermediate conversion link between the ranging sensor 11 and the variable resistor element 12. When the suspension gap changes, the ranging sensor 11 first outputs a corresponding electrical signal. The differential amplifier circuit then generates a corresponding control voltage change based on the change in the electrical signal. The variable resistor element 12 adjusts its resistance value according to the control voltage change, ultimately causing the gain adjustment control module 13 to correspondingly change the amplification factor of the detected signal. Since the entire process is completed in the analog signal stage, the change in suspension gap can be reflected in the change in the gain of the detected signal in real time, without waiting for compensation from the subsequent digital processing unit. For the dynamic fluctuations in the suspension gap that occur during the high-speed operation of the levitated vehicle, this embodiment enables the gain adjustment process to synchronously follow the change in suspension gap, improving the consistency of the detected signal amplitude and providing a more stable signal foundation for subsequent speed measurement and positioning calculations.

[0120] In a preferred embodiment, the input terminal of the differential amplifier circuit also receives a reference voltage. Specifically, the differential amplifier circuit is used to superimpose and amplify the electrical signal and the reference voltage to raise the voltage at the control terminal of the variable resistor element 12, so that the variable resistor element 12 can operate in the variable resistance region.

[0121] In this embodiment, the differential amplifier circuit receives not only the electrical signal output by the ranging sensor 11, but also a reference voltage. This reference voltage, as a pre-set base voltage, participates in the differential amplifier circuit's calculation process, ensuring that the signal output to the control terminal of the variable resistor element 12 not only contains information corresponding to the suspension gap, but also includes a certain DC bias. This is because, while the electrical signal output by the ranging sensor 11 can reflect changes in the suspension gap, its voltage range is often limited by the sensor's own output characteristics and may be at a low level under certain operating conditions. If this electrical signal is directly used to drive the variable resistor element 12, the variable resistor element 12 may not enter the expected operating state, or its resistance change range may be too small to fully reflect the adjustment requirements corresponding to changes in the suspension gap. This embodiment introduces a reference voltage, shifting the overall output signal of the differential amplifier circuit upwards, increasing the base voltage level while preserving the original trend, ensuring that the control signal is always within a range more suitable for driving the variable resistor element 12.

[0122] Furthermore, in this embodiment, the reference voltage not only serves to boost the voltage but also participates in setting the operating range of the control signal. Since the variable resistor element 12 only exhibits continuously changing resistance characteristics within a specific control voltage range, the control terminal voltage needs to remain near the corresponding operating range for an extended period. By having the electrical signal and reference voltage participate in the calculation together, the differential amplifier circuit can make the final output signal vary around a preset operating range, rather than relying entirely on the output range of the ranging sensor 11 itself. For example, when a change in the suspension gap causes the electrical signal to rise or fall, the control signal output by the differential amplifier circuit will change synchronously based on the reference voltage, enabling the variable resistor element 12 to both sense changes in the suspension gap and maintain an adjustable state. The reference voltage can be generated, but is not limited to, by a regulated power supply, a reference voltage source, a voltage reference chip, or a voltage divider network, and its specific value can be set according to the electrical characteristics of the variable resistor element 12. Using this method, the information corresponding to the suspension gap is superimposed on a preset voltage reference for transmission, expanding the effective utilization range of the control signal and enabling the variable resistor element 12 to maintain continuous resistance adjustment capability over a wider range of suspension gap changes.

[0123] Furthermore, in this embodiment, the reference voltage is also used to establish the initial operating state of the variable resistor element 12. When the levitation vehicle is in the designed suspension gap or standard operating state, the electrical signal output by the ranging sensor 11 typically corresponds to a reference value. After the differential amplifier circuit processes this reference value together with the reference voltage, it can make the variable resistor element 12 operate near a preset resistance value. When the suspension gap increases, the control voltage changes in one direction relative to this operating point; when the suspension gap decreases, the control voltage changes in the opposite direction relative to this operating point. Therefore, the resistance change of the variable resistor element 12 does not start from the conduction boundary, but is bidirectionally adjusted around the preset operating point, so that a corresponding resistance response can be obtained when the suspension gap increases or decreases.

[0124] Furthermore, from the perspective of gain control, the reference voltage actually participates in establishing the reference benchmark for the entire gain adjustment process. When the suspension gap is in a normal state, the variable resistor element 12 generates a reference resistance value, and the gain adjustment control module 13 forms a reference gain. When the suspension gap deviates from the normal state, the electrical signal changes relative to the reference voltage, which in turn drives the control voltage to change, causing the resistance value of the variable resistor element 12 to deviate from the reference resistance value, ultimately resulting in a gain change. In other words, the reference voltage in this embodiment not only determines whether the variable resistor element 12 enters the variable resistance region, but also determines the starting position and center of change of gain adjustment, so that the change in suspension gap can be continuously mapped to the gain change process of the subsequent detection signal. Good adjustment continuity can be maintained for both long-term slow changes and short-term fluctuations that occur during the operation of the suspended vehicle.

[0125] In a preferred embodiment, the differential amplifier circuit includes a second operational amplifier U2B, a second resistor R7, and a second capacitor C5. The inverting input terminal of the second operational amplifier U2B is connected to the output terminal of the ranging sensor 11 and one end of the second capacitor C5, respectively. The inverting input terminal of the second operational amplifier U2B also receives a reference voltage. The non-inverting input terminal of the second operational amplifier U2B is grounded through the second resistor R7. The output terminal of the second operational amplifier U2B is connected to the control terminal of the variable resistor element 12 and the other end of the second capacitor C5, respectively.

[0126] In this embodiment, the differential amplifier circuit uses a second operational amplifier U2B as the core processing unit. The electrical signal output from the ranging sensor 11 and the reference voltage are input to the second operational amplifier U2B for comprehensive calculation. The non-inverting input terminal of the second operational amplifier U2B is grounded through the second resistor R7, providing a stable reference potential and providing a comparison basis for the signal received at the inverting input terminal and the reference voltage. During operation, the second operational amplifier U2B adjusts the output voltage according to the potential difference between the inverting and non-inverting input terminals, so that the output signal can reflect both the change in the floating gap and the reference bias provided by the reference voltage. The reference voltage not only boosts the control signal level but also establishes the working center point of the variable resistor element 12, keeping it in the variable resistance region for a long time, thus achieving continuous resistance adjustment.

[0127] In this embodiment, the second capacitor C5 and the second operational amplifier U2B together form a feedback regulation path. The second capacitor C5 exhibits different impedances for signals of different frequencies. High-frequency signals are partially suppressed through feedback, thereby buffering rapidly changing or transient interferences and reducing the fluctuation amplitude of the output signal. Low-frequency signals and effective signals can still participate in the calculation completely, ensuring the continuity of the transmission of information on the change in the suspension gap to the control end. Through this feedback regulation, the dynamic response capability of the second operational amplifier U2B is enhanced, enabling the control signal to smoothly follow the changes in the signal of the ranging sensor 11, while avoiding sudden changes caused by transient fluctuations.

[0128] Furthermore, the output signal of the differential amplifier circuit is used to drive the variable resistor element 12, whose resistance value is continuously adjusted according to the control signal. Due to the combined participation of the reference voltage and the differential amplification, the control signal is always within the effective operating range of the variable resistor element 12, and continuous and smooth resistance adjustment can be obtained regardless of whether the floating gap changes slowly or rapidly. Combined with the feedback adjustment effect formed by the second capacitor C5, this embodiment can adapt to the operating requirements under different working conditions, such as smooth output following in slow-changing scenarios, avoiding jumps in rapid-changing scenarios, and suppressing transient interference in scenarios with electromagnetic interference, thus achieving stable and reliable control signal and providing a foundation for subsequent gain adjustment.

[0129] In a preferred embodiment, the differential amplifier circuit further includes a third resistor R9, which is disposed between the inverting input terminal of the second operational amplifier U2B and the output terminal of the ranging sensor 11; and a fourth resistor R10, which is disposed between the inverting input terminal of the second operational amplifier U2B and the device that outputs the reference voltage.

[0130] In this embodiment, the differential amplifier circuit further includes a third resistor R9 and a fourth resistor R10, which are respectively disposed between the inverting input terminal of the second operational amplifier U2B and the output terminal of the ranging sensor 11, and between the inverting input terminal and the reference voltage output terminal. The third resistor R9 limits and buffers the amplitude of the electrical signal output by the ranging sensor 11, ensuring that the signal amplitude is moderate when input to the second operational amplifier U2B, while also appropriately limiting the current to ensure the operational amplifier's operational stability. The fourth resistor R10 applies the reference voltage to the inverting input terminal according to a preset ratio, so that the output signal forms a reference bias and stabilizes the operating point.

[0131] The combined action of the third resistor R9 and the fourth resistor R10 allows the inverting input of the second operational amplifier U2B to simultaneously receive the signal from the ranging sensor 11 and the reference voltage, which are then proportionally superimposed to form a comprehensive control signal. This control signal is further used to drive the variable resistor element 12, enabling continuous adjustment of its resistance value and smooth response to changes in the suspension gap. In practical applications, the resistance values ​​of the third resistor R9 and the fourth resistor R10 can be designed according to the range of suspension gap changes, the output voltage range of the ranging sensor 11, and the operating characteristics of the variable resistor element 12. This ensures that the output signal of the differential amplifier circuit accurately reflects the changes in the suspension gap while remaining within the effective operating range of the variable resistor element 12. This configuration maintains the stability and reliability of the control signal under different vehicle operating conditions, dynamic changes, and interference environments, enabling continuous and smooth adjustment of the resistance value of the variable resistor element 12.

[0132] In a preferred embodiment, a fifth resistor R8 is connected in series between the output terminal of the second operational amplifier U2B and the control terminal of the variable resistor element 12.

[0133] In this embodiment, the fifth resistor R8 is connected in series between the output terminal of the second operational amplifier U2B and the control terminal of the variable resistor element 12 to limit the transient current flowing into the control terminal of the variable resistor element 12. Combined with the equivalent input capacitance of the control terminal of the variable resistor element 12, the fifth resistor R8 also affects the rate of change of the voltage at the control terminal.

[0134] When the control voltage changes, the fifth resistor R8 and the equivalent input capacitance of the control terminal of the variable resistor element 12 work together to make the control terminal voltage have a certain dynamic transition process relative to the output of the second operational amplifier U2B, thereby reducing the influence of transient changes on the resistance adjustment of the variable resistor element 12.

[0135] The value of the fifth resistor R8 can be set according to the output range of the second operational amplifier U2B, the input characteristics of the control terminal of the variable resistor element 12, and the required dynamic response.

[0136] like Figure 3 and Figure 4As shown, this embodiment provides a speed measurement and positioning adaptive adjustment method, wherein... Figure 3 The method flow is shown. Figure 4 The corresponding signal processing relationships are shown, including:

[0137] S11: Obtain the electrical signal corresponding to the suspension gap of the levitated vehicle;

[0138] In existing speed measurement and positioning solutions for suspended vehicles, the amplitude of the detection signal is fixed or relies solely on the sensor output. There is a lack of adaptive gain adjustment methods based on changes in the suspension gap. As a result, in environments with large changes in suspension gap, rapid changes in vehicle speed, or magnetic field interference, the speed measurement and positioning signals may have insufficient amplitude or excessive fluctuations, reducing the accuracy and reliability of speed measurement and positioning.

[0139] This step uses the ranging sensor 11 to detect the actual suspension gap between the levitated vehicle and the track in real time, and converts the detection result into a corresponding electrical signal output. The suspension gap refers to the spatial distance between the bottom of the vehicle and the track, which changes dynamically with factors such as load, track condition, and running speed during vehicle operation.

[0140] The ranging sensor 11 may, but is not limited to, employ a laser ranging device or other non-contact distance detection device. By calculating the reflected signal or propagation time difference, it obtains an electrical signal corresponding to the suspension gap. This electrical signal may be a voltage signal or a current signal, and its amplitude change corresponds to the change in the suspension gap.

[0141] During operation, the electrical signal can be updated in real time using continuous sampling or acquired discretely using periodic sampling. When the vehicle is operating at high speed, a higher sampling frequency is preferred to ensure that changes in the suspension gap can be captured in a timely manner; when the vehicle is operating relatively smoothly, the sampling frequency can be appropriately reduced to decrease the signal processing burden.

[0142] In this way, the change information of the suspension gap is converted into a continuous or quasi-continuous electrical signal, providing a basic input signal for the control of the subsequent variable resistor element 12, so that the suspension gap information can enter the subsequent gain adjustment link.

[0143] S12: Controls the variable resistor element 12 to operate in the variable resistance region according to the electrical signal;

[0144] In this step, the electrical signal obtained in S11 is input to the control terminal of the variable resistor element 12, so that the variable resistor element 12 adjusts its resistance value according to the change of the electrical signal, thereby working in the variable resistance region.

[0145] The variable resistor element 12 may be, but is not limited to, a metal-oxide-semiconductor field-effect transistor Q1, whose equivalent resistance between its drain and source changes continuously with the control voltage. Within the variable resistor region, this resistance value no longer remains fixed but is continuously adjusted with the control voltage.

[0146] When the suspension gap increases, the electrical signal output by the ranging sensor 11 changes accordingly, and the voltage at the control terminal changes accordingly, which changes the conduction degree of the variable resistor element 12, thereby causing a change in resistance. When the suspension gap decreases, the resistance changes in the opposite direction through the change in the electrical signal.

[0147] This step essentially converts the suspension gap information from a spatial distance quantity into a resistance parameter quantity, allowing changes in the suspension gap to be mapped to electrical parameters that can participate in subsequent signal conditioning, thereby providing a variable control variable for gain adjustment. S13: Acquire the detection signal output by the magnetic sensor 14;

[0148] In this step, the magnetic sensor 14 is used to detect changes in the magnetic field on the track of the levitated vehicle and convert the magnetic field changes into a detection signal output.

[0149] The magnetic nail modules installed on the track generate periodic or position-dependent magnetic field changes during vehicle operation. The magnetic sensor 14 senses these changes in magnetic field strength or polarity and converts them into electrical signals. These signals can reflect changes in the vehicle's position on the track, as well as changes in its motion state.

[0150] The detection signal can be an analog voltage signal or a digital pulse signal, the amplitude of which or its frequency is related to the change in the magnetic field. In practical applications, the detection signal can be output continuously or triggered when a vehicle passes through the magnetic nail area.

[0151] This detection signal serves as the target signal for subsequent gain adjustment, providing the initial information basis for the generation of speed measurement and positioning signals. S14: Adjust the gain of the detection signal according to the current resistance value of the variable resistor element 12;

[0152] In this step, the detection signal output by the magnetic sensor 14 is input to the gain adjustment control path, and the gain of the detection signal is adjusted according to the current resistance value of the variable resistor element 12.

[0153] Since the resistance value of the variable resistor element 12 is mapped to the electrical signal corresponding to the floating gap, this resistance value can reflect the changing state of the floating gap. When the resistance value changes, the corresponding gain adjustment parameter changes synchronously, thereby changing the amplification factor of the detection signal.

[0154] Specifically, when the suspension gap is large, the resistance of the variable resistor element 12 changes accordingly, causing the gain adjustment control module 13 to adjust the amplification factor of the detection signal; when the suspension gap is small, the gain parameter is adjusted in the opposite direction by changing the resistance.

[0155] In this way, the amplitude of the detection signal can be adaptively adjusted according to the change of the suspension gap, so that the magnetic field detection signal collected under different gap conditions can be kept within the amplitude range suitable for subsequent processing, thereby avoiding calculation errors caused by excessively strong or weak signals. S15: Generate a velocity measurement signal and / or a positioning signal based on the detection signal after gain adjustment.

[0156] In this step, the detection signal after gain adjustment is input to the processor or subsequent calculation module, and the speed measurement signal and positioning signal are obtained by processing the signal.

[0157] Specifically, the vehicle speed can be calculated based on the amplitude changes, time changes, or periodic characteristics of the detected signal, and the position can be estimated by analyzing the signal time series, thereby obtaining the real-time position of the vehicle on the track.

[0158] Speed ​​signals are used to characterize the real-time operating speed of the vehicle, while positioning signals are used to characterize the vehicle's position on the track. These two types of signals can be output individually or simultaneously to meet different control or monitoring needs.

[0159] In actual operation, by continuously executing steps S11 to S15, the real-time tracking of the levitation vehicle's operating status can be achieved, enabling the speed measurement and positioning results to be dynamically updated as the levitation gap and operating status change, thereby ensuring the continuity and stability of the output results.

[0160] As a preferred embodiment, before controlling the variable resistor element 12 to operate in the variable resistance region, the method further includes:

[0161] The electrical signal is superimposed on and amplified with a reference voltage to generate a control voltage;

[0162] The variable resistor element 12 is driven by a control voltage.

[0163] In this embodiment, before controlling the variable resistor element 12 to operate in the variable resistance region, the electrical signal acquired by the ranging sensor 11 is superimposed with a preset reference voltage. The superimposed signal is processed by an amplification circuit to make its amplitude meet the requirements for driving the control terminal of the variable resistor element 12, forming a control voltage that can directly control the variable resistor element 12. The amplification process can be implemented using an operational amplifier or other amplification circuits, and the amplitude is adjustable to adapt to signal inputs with different suspension gap ranges.

[0164] The generated control voltage drives the variable resistor element 12, causing it to enter the variable resistance region. Changes in the control voltage directly affect the resistance value of the variable resistor element 12, thus establishing a correspondence between the electrical signal and the resistance value, providing a real-time reference for subsequent gain adjustment of the detection signal. This step can be performed continuously or updated within the sampling period, ensuring that the variable resistor element 12 adjusts its resistance value in real time according to changes in the floating gap.

[0165] As a preferred embodiment, before controlling the variable resistor element 12 to operate in the variable resistance region, the following processing procedure is also included: preprocessing the electrical signal output by the ranging sensor 11 to make it meet the driving conditions for the variable resistor element 12.

[0166] Specifically, the electrical signal is superimposed on and amplified with a reference voltage to generate a control voltage. This superposition process can be understood as introducing a stable DC reference onto the electrical signal, causing the electrical signal, which originally varied with the suspension gap, to shift as a whole to the target voltage range, thereby avoiding the problem of the electrical signal itself having too low an amplitude or insufficient fluctuation range.

[0167] During the superposition process, the reference voltage acts as a reference bias, enabling the electrical signal to obtain a stable voltage starting point while maintaining its changing trend. This reference voltage can be provided by, but is not limited to, a reference voltage source, a voltage regulator module, or a voltage divider network. Its value is set according to the operating voltage range of the variable resistor element 12 to ensure that subsequent control signals can cover the effective adjustment range of the variable resistor region.

[0168] The superimposed signal is further amplified to adjust its amplitude, ensuring it meets the requirements for driving the control terminal of the variable resistor element 12, thus forming a control voltage. The amplification circuit can be implemented using an operational amplifier structure, a differential amplifier structure, or other analog amplifier circuits. Its gain coefficient can be configured according to the variation range of the suspension gap and the sensor output characteristics to ensure that the control voltage can stably cover the adjustment range of the variable resistor element 12 under different operating conditions.

[0169] The generated control voltage drives the variable resistor element 12, causing it to operate in the variable resistance region. In this state, the resistance of the variable resistor element 12 changes continuously with the control voltage, thus establishing a correspondence between the electrical signal and the resistance value. Specifically, when the suspension gap changes, the electrical signal output by the ranging sensor 11 changes synchronously. After being superimposed and amplified, this change is converted into a change in control voltage, which in turn drives the variable resistor element 12 to adjust its resistance value accordingly, realizing the mapping process from gap change to resistance change.

[0170] During operation, this control process can be executed continuously or updated according to a preset sampling period, enabling the variable resistor element 12 to respond in real time to the dynamic changes in the suspension gap. In this way, the current resistance value of the variable resistor element 12 can accurately reflect the state of the suspension gap and serve as an important basis for subsequent gain adjustment of the detection signal output by the magnetic sensor 14.

[0171] Furthermore, this control method ensures that the voltage bias and amplitude matching are completed before the electrical signal enters the gain adjustment stage, thereby improving the working stability of the variable resistor element 12 under different operating conditions, making the resistance change process more continuous and smooth, and avoiding the problem of insufficient resistance adjustment caused by insufficient or unstable electrical signal amplitude.

[0172] As a preferred embodiment, generating a speed measurement signal and / or a positioning signal based on the gain-adjusted detection signal includes:

[0173] Speed ​​calculation and position estimation are performed based on the detection signal after gain adjustment, and the operating speed and position information of the levitated vehicle are output. The speed measurement signal is the operating speed, and the positioning signal is the position information.

[0174] In this embodiment, the gain-adjusted detection signal is used to calculate the speed and position of the levitated vehicle. Specifically, speed calculation and position estimation can be performed based on the amplitude, rate of change, or temporal characteristics of the detection signal, combined with the vehicle's travel time interval and track information. Through processing, the real-time speed and position information of the vehicle at a specific point in time can be obtained.

[0175] The generated speed and position information are output as speed measurement signals and positioning signals, respectively, for vehicle operation monitoring or subsequent control. The speed measurement signal reflects the vehicle's speed on the track, while the positioning signal reflects the vehicle's position relative to the track or magnetic nail module. This method can be executed continuously to provide real-time vehicle operating parameters, or it can interface with a control system or recording device to achieve dynamic monitoring and management.

[0176] As a preferred embodiment, generating a speed measurement signal and / or a positioning signal based on the gain-adjusted detection signal includes the following processing steps:

[0177] First, the gain-adjusted detection signal is used as the basic input signal to calculate the speed and position of the levitated vehicle. The amplitude of the gain-adjusted signal is processed by a variable gain amplifier circuit, and its variation trend closely corresponds to the actual motion state of the levitated vehicle on the track, thus more accurately reflecting the changes in magnetic field or detection signal amplitude caused by changes in vehicle position.

[0178] For speed calculation, speed estimation can be performed based on the rate of change of the detected signal after gain adjustment, the time interval between signal peaks, or the frequency characteristics of the signal, combined with the vehicle's travel time and track parameters. In practice, the change of the signal per unit time can be calculated using differential operations, digital filtering, or integral methods to obtain the instantaneous speed or average operating speed of the levitated vehicle. Speed ​​calculation can be performed in real time or updated using a sampling period to meet different requirements for monitoring accuracy and response time.

[0179] For position estimation, the current position of the levitated vehicle can be estimated by analyzing the response of the gain-adjusted detection signal at various feature points on the track, such as the signal peak or signal zero intersection corresponding to the magnetic nail position, combined with the known spatial layout of the track. Position estimation can employ methods such as signal amplitude matching, cumulative counting, or signal peak positioning to ensure that the vehicle's position information maintains high accuracy under different operating conditions.

[0180] The generated speed and position information are output as speed measurement signals and positioning signals, respectively. The speed measurement signal directly reflects the running speed of the levitation vehicle on the track and can be used for vehicle dynamic control, scheduling decisions, or safety monitoring; the positioning signal reflects the real-time position of the levitation vehicle on the track and can be used for vehicle navigation, train interval control, or track resource management.

[0181] Furthermore, the signal processing in this embodiment can be performed continuously, enabling the output speed and positioning signals to be updated in real time, reflecting the dynamic state of the levitated vehicle during operation. Simultaneously, by using the gain-adjusted signal as input, signal fluctuations caused by measurement errors, magnetic field interference, or changes in the levitation gap can be effectively reduced, improving the accuracy and stability of speed measurement and positioning.

[0182] Furthermore, this embodiment can interface with vehicle control systems, monitoring systems, or data recording devices to achieve real-time transmission, storage, and subsequent processing of speed measurement and positioning information, thereby forming a complete vehicle dynamic monitoring and management function.

[0183] As a preferred embodiment, before adjusting the gain of the detection signal based on the current resistance value of the variable resistor element 12, the method further includes:

[0184] Determine whether the electrical signal is within the preset normal range;

[0185] When the electrical signal exceeds the normal range, the step of adjusting the gain of the detection signal based on the current resistance value of the variable resistor element 12 is not performed.

[0186] When the electrical signal is within the normal range, the step of adjusting the gain of the detection signal according to the current resistance value of the variable resistor element 12 is performed.

[0187] Specifically, the first step is to determine whether the electrical signal is within a preset normal range. This normal range is used to characterize the amplitude range of the electrical signal output by the ranging sensor 11 under normal operating conditions of the levitation vehicle. It can be set according to the design suspension gap range of the levitation vehicle, its electrical output characteristics, and the typical signal range of the magnetic sensor 14 under its operating environment, or it can be determined based on a stable range obtained from statistical analysis of actual operating data.

[0188] During the judgment process, the instantaneous amplitude of the electrical signal, the range of voltage changes, or the statistical characteristics of the sampling sequence can be used to determine whether the electrical signal is within a reasonable operating range. This judgment is not only used to distinguish normal operating conditions, but also to identify abnormal signal inputs caused by external electromagnetic interference, transient fluctuations in sensors, or extreme operating conditions.

[0189] When the electrical signal exceeds the preset normal range, this embodiment does not perform gain adjustment based on the current resistance value of the variable resistor element 12, that is, it keeps the current resistance value of the variable resistor element 12 unchanged. In this state, the gain adjustment control module 13 maintains the adjustment result of the previous moment, so that the gain of the detection signal remains stable and does not change with abnormal electrical signal fluctuations.

[0190] This method avoids erroneous driving of the variable resistor element 12 under abnormal signal input conditions, prevents the resistance value from changing in a way that does not correspond to the actual working condition, thereby avoiding abnormal amplification or suppression of the detection signal and reducing the possibility of deviations in subsequent speed measurement and positioning calculations.

[0191] When the electrical signal is within the preset normal range, this embodiment performs gain adjustment of the detection signal based on the current resistance value of the variable resistor element 12. At this time, the resistance value of the variable resistor element 12 can accurately reflect the change in the suspension gap and participate in the gain adjustment process, so that the amplitude of the detection signal can be adaptively adjusted according to the operating state.

[0192] Furthermore, through the aforementioned judgment mechanism, the gain adjustment process no longer responds indiscriminately to all input signals, but only performs adjustment when the electrical signal is within the effective range, thereby introducing an adjustment triggering mechanism based on effectiveness screening into the signal processing path.

[0193] This embodiment can be understood as follows: by judging the normal range and adjusting the conditional gain, the adjustment behavior of the variable resistor element 12 is kept consistent with the actual operating state, avoiding abnormal signals from interfering with the resistance control path, thereby improving the stability of the detection signal output and further enhancing the reliability of the speed measurement signal and the positioning signal.

[0194] To solve the above-mentioned technical problems, the present invention provides a levitation vehicle, comprising:

[0195] Distance sensor 11;

[0196] Magnetic sensor 14;

[0197] The speed measurement and positioning circuit described above;

[0198] A processor; wherein the processor is used to execute the steps of the speed measurement and positioning adaptive adjustment method described above.

[0199] In this embodiment, during operation, the levitation vehicle acquires real-time information about the suspension gap between the vehicle and the track via the ranging sensor 11 and converts it into a corresponding electrical signal output. This electrical signal is used to characterize the dynamic changes in the suspension gap and serves as the source of the control signal for the subsequent variable resistor element 12.

[0200] Meanwhile, the magnetic sensor 14 is used to collect information on changes in the magnetic field generated by the track or magnetic nail module, and outputs detection signals related to the vehicle's position and operating status. These detection signals reflect the vehicle's relative motion on the track and serve as the basis for subsequent speed measurement and positioning calculations.

[0201] The signals output by the ranging sensor 11 and the magnetic sensor 14 are respectively input to the speed measurement and positioning circuit. In this circuit, the electrical signal output by the ranging sensor 11 is used to drive the variable resistor element 12, so that its resistance value is continuously adjusted according to the change of the suspension gap; the detection signal output by the magnetic sensor 14 is input to the gain adjustment control module 13, and the gain is adjusted according to the current resistance value of the variable resistor element 12, thereby realizing the adaptive change of the detection signal amplitude.

[0202] Through the above processing, the detection signal output by the magnetic sensor 14 can automatically adjust its gain according to the change of the suspension gap, avoiding excessively large or small signal amplitude due to gap changes, thereby ensuring that the detection signal is always within the dynamic range suitable for subsequent processing and improving signal stability and consistency.

[0203] Furthermore, the detection signal, after gain adjustment, is output to the processor, which performs speed calculation and position estimation based on the adjusted detection signal. Specifically, the processor can perform matching calculations based on the rate of change of the detection signal, time series characteristics, or feature points corresponding to the magnetic nails, thereby obtaining the real-time operating speed and position information of the levitated vehicle.

[0204] The generated speed measurement signal is used to characterize the vehicle's real-time operating speed on the track, while the positioning signal is used to characterize the vehicle's position relative to the track or magnetic nail module. This method allows speed measurement and positioning calculations to be directly based on the adaptively gain-adjusted detection signal, thereby improving speed measurement accuracy and positioning stability under different suspension gap conditions.

[0205] Furthermore, in this embodiment, through the signal acquisition of the ranging sensor 11 and the magnetic sensor 14, and the dynamic adjustment of the speed measurement and positioning circuit, the amplitude matching processing of the detection signal is completed before it enters the processor, thereby reducing the dependence of subsequent digital calculations on signal compensation and improving the overall operational reliability and adaptability.

[0206] In a preferred embodiment, the ranging sensor 11 is a laser sensor and the magnetic sensor 14 is a Hall sensor.

[0207] In this embodiment, the ranging sensor 11 is a laser sensor, which measures the actual gap between the levitated vehicle and the track or magnetic nail by emitting a laser beam and receiving the time of flight or phase difference of the reflected light. The laser sensor can output a continuously changing electrical signal, the amplitude of which corresponds to the levitation gap. This signal can be directly used as the control signal input for the variable resistor element 12, enabling continuous adjustment of the resistance value. In this way, changes in the levitation gap can be accurately reflected in the gain adjustment process, thereby ensuring that the detected signal maintains appropriate amplitude and dynamic response characteristics in subsequent processing stages.

[0208] The magnetic sensor 14 employs a Hall effect sensor, which detects changes in the magnetic field generated by the track or magnetic nail and converts the magnetic field information into an electrical signal output. The amplitude of the detection signal output by the Hall effect sensor is related to the vehicle's position or motion state and can be used by the gain adjustment control module 13 for adaptive gain adjustment. After processing by the variable resistor element 12 and the gain adjustment circuit, the Hall effect sensor signal can accurately reflect the vehicle's motion state, providing a reliable signal basis for the subsequent processor to calculate speed and position.

[0209] By utilizing laser sensors and Hall effect sensors, levitated vehicles can acquire real-time information on their suspension gap and motion status. The laser sensor provides gap information and controls gain adjustment, while the Hall effect sensor provides position and velocity information. After gain adjustment, this information is input into the processor, thus generating stable and reliable speed and positioning signals suitable for levitated vehicles.

[0210] In a preferred embodiment, the ranging sensor 11 and the magnetic sensor 14 are integrated on the same circuit board.

[0211] In this embodiment, the ranging sensor 11 and the magnetic sensor 14 are integrated on the same circuit board, which is uniformly mounted on the top of the bogie of the hovering vehicle. This integration method allows a fixed spatial relative relationship to be established between the ranging sensor 11 and the magnetic sensor 14, ensuring that their detection reference points remain relatively stable during operation and do not experience significant shifts due to installation errors or structural vibrations.

[0212] Because the levitation vehicle experiences vibration, attitude changes, and uneven track conditions during operation, if the ranging sensor 11 and the magnetic sensor 14 are installed separately, the relative displacement of their detection points can easily occur, causing inconsistencies between the levitation gap information and the magnetic field detection information in time or space, which in turn affects the stability of subsequent gain adjustment and speed positioning calculation.

[0213] This embodiment uses the same circuit board to keep the relative position between the ranging point and the magnetic field detection point fixed, so that the ranging signal and the detection signal of the magnetic sensor 14 can be collected under the same spatial reference conditions, thereby improving the consistency of the correspondence between the two types of signals and reducing the measurement error caused by structural deviation.

[0214] Furthermore, this integrated structure can reduce wiring length and the number of connection nodes, reduce the risk of interference during signal transmission, and make the ranging signal and magnetic field detection signal have better stability at the electrical transmission level.

[0215] In actual operation, since the electrical signal output by the ranging sensor 11 is used to control the variable resistor element 12, and the detection signal output by the magnetic sensor 14 is used for the gain adjustment control module 13, the consistency between the two signals plays a fundamental supporting role in the overall adaptive adjustment process. By fixing the relative position, the change in the suspension gap and the change in the magnetic field detection can respond under the same spatial reference, thereby improving the matching accuracy of the gain adjustment and further enhancing the reliability of the speed measurement signal and the positioning signal.

[0216] In a preferred embodiment, the emission point of the ranging sensor 11 and the detection point of the magnetic sensor 14 are located at the same horizontal position. The circuit board is mounted on the top of the bogie of the suspended vehicle, and the detection surface of the circuit board faces the magnetic nail module set on the track.

[0217] In this embodiment, the emission point of the ranging sensor 11 and the detection point of the magnetic sensor 14 are set at the same horizontal position, ensuring consistency between them on the spatial reference. This provides a unified reference coordinate for the suspension gap information and the magnetic field detection information. Since the levitated vehicle may experience slight pitch or vibration during operation, any misalignment between the two sensors in the vertical or horizontal direction could lead to inconsistencies between the ranging signal and the magnetic field signal in time or space, affecting the correspondence between the control signal and the detection signal during subsequent gain adjustment. This embodiment, through horizontal alignment, enables the synchronous acquisition of both types of signals under the same spatial location conditions, reducing measurement errors caused by spatial deviations at the source and improving the consistency of signal correlation.

[0218] The circuit board is mounted on top of the bogie of the suspended vehicle, ensuring that the ranging sensor 11 and the magnetic sensor 14 are stably aligned with the magnetic nail module installed on the track. This mounting position reduces the impact of the vehicle's underside structure obstructing signal acquisition, keeping the laser ranging path and magnetic field sensing area relatively stable. Simultaneously, the detection surface is oriented towards the track, allowing the sensors to continuously acquire valid information about the track direction and preventing signal attenuation or distortion due to installation angle deviations.

[0219] Furthermore, since the electrical signal output by the ranging sensor 11 in this invention is used to drive the variable resistor element 12 and participate in the gain adjustment process, the spatial consistency between the sensors directly affects the correspondence between the electrical signal and the detection signal of the magnetic sensor 14. Through the above structural arrangement, the changes in the levitation gap and the magnetic field can be synchronously reflected under the same spatial reference, which facilitates subsequent control of the variable resistor element 12 to operate in the variable resistance region based on the electrical signal and adaptive gain adjustment of the detection signal.

[0220] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0221] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A speed measurement and positioning circuit, characterized in that, include: Distance sensors are used to detect the suspension gap of the hovering vehicle in real time and output corresponding electrical signals; A variable resistance element, the control terminal of which is connected to the ranging sensor, is used to receive and respond to the electrical signal and operate in the variable resistance region; A magnetic sensor is used to detect the magnetic field generated by a magnetic nail and output a corresponding detection signal. The gain adjustment control module has its input terminals connected to the variable resistor element and the magnetic sensor, respectively, and is used to adjust the gain of the detection signal according to the current resistance value of the variable resistor element.

2. The speed measurement and positioning circuit according to claim 1, characterized in that, The variable resistor element is a metal-oxide-semiconductor field-effect transistor, with its gate serving as the control terminal and the resistance between its drain and source serving as the variable resistor.

3. The speed measurement and positioning circuit according to claim 2, characterized in that, The metal-oxide-semiconductor field-effect transistor is an N-channel metal-oxide-semiconductor field-effect transistor or a P-channel metal-oxide-semiconductor field-effect transistor.

4. The speed measurement and positioning circuit according to claim 3, characterized in that, The source of the metal-oxide-semiconductor field-effect transistor is connected to the input terminal of the gain adjustment control module, and the drain of the metal-oxide-semiconductor field-effect transistor is connected to the output terminal of the gain adjustment control module.

5. The speed measurement and positioning circuit according to claim 1, characterized in that, The gain adjustment control module includes a variable gain amplifier circuit. The input terminal of the variable gain amplifier circuit is connected to the output terminal of the magnetic sensor, and the output terminal of the variable gain amplifier circuit is used to output the detection signal after gain adjustment. The variable resistance of the variable resistor element is connected to the feedback loop of the variable gain amplifier circuit.

6. The speed measurement and positioning circuit according to claim 5, characterized in that, The variable gain amplifier circuit includes a first operational amplifier and a first resistor. The connection point between the inverting input terminal of the first operational amplifier and the first resistor serves as the input terminal of the variable gain amplifier circuit. The other end of the first resistor is connected to a power supply. The non-inverting input terminal of the first operational amplifier is grounded. The output terminal of the first operational amplifier serves as the output terminal of the variable gain amplifier circuit. The variable resistor element is connected between the output terminal and the inverting input terminal of the first operational amplifier.

7. The speed measurement and positioning circuit according to claim 6, characterized in that, A first capacitor is connected in parallel between the output terminal and the inverting input terminal of the first operational amplifier.

8. The speed measurement and positioning circuit according to claim 1, characterized in that, It also includes a differential amplifier circuit, the input of which is connected to the output of the ranging sensor, and the output of which is connected to the control terminal of the variable resistor element. The differential amplifier circuit is used to amplify the electrical signal.

9. The speed measurement and positioning circuit according to claim 8, characterized in that, The input terminal of the differential amplifier circuit also receives a reference voltage. Specifically, the differential amplifier circuit is used to superimpose and amplify the electrical signal and the reference voltage to raise the voltage at the control terminal of the variable resistor element, so that the variable resistor element can operate in the variable resistance region.

10. The speed measurement and positioning circuit according to claim 9, characterized in that, The differential amplifier circuit includes a second operational amplifier, a second resistor, and a second capacitor. The inverting input terminal of the second operational amplifier is connected to the output terminal of the ranging sensor and one end of the second capacitor, respectively. The inverting input terminal of the second operational amplifier also receives the reference voltage. The non-inverting input terminal of the second operational amplifier is grounded through the second resistor. The output terminal of the second operational amplifier is connected to the control terminal of the variable resistor element and the other end of the second capacitor, respectively.

11. The speed measurement and positioning circuit according to claim 9, characterized in that, The differential amplifier circuit further includes a third resistor disposed between the inverting input terminal of the second operational amplifier and the output terminal of the ranging sensor; and a fourth resistor disposed between the inverting input terminal of the second operational amplifier and the device that outputs the reference voltage.

12. The speed measurement and positioning circuit according to claim 9, characterized in that, A fifth resistor is connected in series between the output terminal of the second operational amplifier and the control terminal of the variable resistor element.

13. A speed measurement and positioning adaptive adjustment method, characterized in that, include: Obtain the electrical signal corresponding to the suspension gap of the suspended vehicle; The variable resistor element is controlled to operate in the variable resistance region according to the electrical signal; Acquire the detection signal output by the magnetic sensor; The gain of the detection signal is adjusted according to the current resistance value of the variable resistor element; Speed ​​measurement signals and / or positioning signals are generated based on the detection signals after gain adjustment.

14. The adaptive adjustment method for speed measurement and positioning according to claim 13, characterized in that, Before controlling the variable resistor element to operate in the variable resistance region, the following steps are also included: The electrical signal is superimposed on and amplified with a reference voltage to generate a control voltage; The variable resistor element is driven using the control voltage.

15. The adaptive adjustment method for speed measurement and positioning according to claim 13, characterized in that, Based on the gain-adjusted detection signal, a speed measurement signal and / or a positioning signal are generated, including: Based on the gain-adjusted detection signal, speed calculation and position estimation are performed, and the operating speed and position information of the levitated vehicle are output. The speed measurement signal is the operating speed, and the positioning signal is the position information.

16. The adaptive adjustment method for speed measurement and positioning according to any one of claims 13-15, characterized in that, Before adjusting the gain of the detection signal based on the current resistance value of the variable resistor element, the method further includes: Determine whether the electrical signal is within a preset normal range; When the electrical signal exceeds the normal range, the step of adjusting the gain of the detection signal according to the current resistance value of the variable resistor element is not performed. When the electrical signal is within the normal range, the step of adjusting the gain of the detection signal according to the current resistance value of the variable resistor element is performed.

17. A suspended vehicle, characterized in that, include: Distance sensor; Magnetic sensor; The speed measurement and positioning circuit according to any one of claims 1-12; A processor; wherein the processor is configured to perform the steps of the speed measurement and positioning adaptive adjustment method as described in any one of claims 13-16.

18. The levitation vehicle according to claim 17, characterized in that, The ranging sensor is a laser sensor, and the magnetic sensor is a Hall sensor.

19. The levitation vehicle according to claim 17, characterized in that, The ranging sensor and the magnetic sensor are integrated on the same circuit board.

20. The levitation vehicle according to any one of claims 17-19, characterized in that, The emission point of the ranging sensor and the detection point of the magnetic sensor are located at the same horizontal position. The circuit board is installed on the top of the bogie of the suspended vehicle, and the detection surface of the circuit board faces the magnetic nail module set on the track.

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