Multi-degree-of-freedom motion test equipment suitable for magnetic suspension automobile
By designing a multi-degree-of-freedom motion testing device suitable for maglev cars, the problem that existing devices cannot perform multi-degree-of-freedom motion testing has been solved, and multi-degree-of-freedom motion control and stability analysis of maglev cars have been realized.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-06
- Publication Date
- 2026-04-14
AI Technical Summary
Existing motion testing devices for permanent magnet electric suspension systems are mainly focused on linear permanent magnet electric suspension systems. They are not suitable for maglev vehicles with multiple degrees of freedom of motion, and cannot perform individual degree-of-freedom debugging and combined control debugging, thus failing to meet the multi-degree-of-freedom motion testing requirements of maglev vehicles.
A multi-degree-of-freedom motion testing device suitable for magnetic levitation vehicles was designed, including a conductor plate, a base, a three-axis translational position parameter adjustment device and a three-axis rotational attitude parameter adjustment device. Through X-axis, Y-axis, and Z-axis guide rail assemblies and components such as sway flanges and cross-axis universal joints, multi-degree-of-freedom motion control testing of magnetic levitation vehicles can be realized.
It enables multi-degree-of-freedom motion control testing of maglev cars, including tests of longitudinal, lateral, vertical, yaw, pitching, and roll movements. It can also perform control tests such as static levitation, braking, and adaptive cruise control, and conduct motion stability and disturbance rejection analysis.
Smart Images
Figure CN224122920U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of permanent magnet electric levitation testing, and more specifically, to a multi-degree-of-freedom motion testing device suitable for magnetic levitation vehicles. Background Technology
[0002] With the continuous improvement of permanent magnet performance and the widespread application of Halbach arrays, permanent magnet electric levitation has gained widespread attention and favor. In linear permanent magnet electric levitation train systems, the large magnetic resistance in the forward direction is one of the problems that urgently needs to be solved for its engineering application. If this technology is applied to the automotive field, and the linear permanent magnet is replaced with a ring-shaped permanent magnet wheel, the magnetic resistance can be converted into driving force, thereby realizing the integration of levitation, guidance, and drive in magnetic levitation vehicles. However, the open-loop system of magnetic levitation vehicles is unstable and easily becomes unstable due to external disturbances. Therefore, a closed-loop feedback control system needs to be introduced to improve its operational safety. Therefore, efficient, safe, and reliable multi-degree-of-freedom active control debugging experimental research has become an important means and necessary link for the practical application of magnetic levitation vehicles. Existing experimental devices mainly focus on motion testing of linear permanent magnet electric levitation systems and are not suitable for multi-degree-of-freedom magnetic levitation vehicles. In addition, existing experimental devices can only perform a limited number of experimental conditions, cannot debug a single degree of freedom individually, and cannot controllably select several specific degrees of freedom for combined control debugging. Utility Model Content
[0003] The inventor of this utility model discovered that a magnetic levitation car is a road transportation tool or a semi-rail transportation tool. The motion freedom of a magnetic levitation car is similar to that of a flying car. However, the existing motion debugging and testing device for permanent magnet electric levitation system is only applicable to flat linear permanent magnet electric levitation transport systems in the field of rail transportation, and is not applicable to rotary permanent magnet electric levitation cars that operate freely and flexibly with multiple degrees of freedom.
[0004] This utility model provides a multi-degree-of-freedom motion testing device suitable for magnetic levitation vehicles. The testing device includes a conductor plate, a base, and a three-axis translational position adjustment device. The conductor plate is disposed on the base. The three-axis translational position adjustment device includes an X-axis guide rail assembly, a Y-axis guide rail assembly, and a Z-axis guide rail assembly. The X-axis guide rail assembly includes an X-axis guide rail and an X-axis slider that cooperates with the X-axis guide rail. The Y-axis guide rail assembly includes a Y-axis guide rail, a Y-axis slider that cooperates with the Y-axis guide rail, and a Y-axis limiting block that restricts the position of the Y-axis slider. The Z-axis guide rail assembly includes a Z-axis guide rail, a Z-axis slider that cooperates with the Z-axis guide rail, and a Z-axis limiting block that restricts the position of the Z-axis slider. The three-axis translational position adjustment device includes an XY connector, through which the Y-axis guide rail cooperates with the X-axis slider.
[0005] In a preferred embodiment, the testing equipment further includes a three-axis rotary attitude adjustment device, which includes a sway flange and a universal joint, and the sway flange and the universal joint are connected by an adapter.
[0006] In a preferred embodiment, the Y-guide rail assembly includes a Y-guide rail, a Y-slider that cooperates with the Y-guide rail, and a Y-limiting block that restricts the position of the Y-slider. The Y-limiting block is pressed tightly against both sides of the Y-slider and locked to fix and constrain the Y-direction or lateral degree of freedom of the magnetic levitation vehicle.
[0007] In a preferred embodiment, the Z-guide rail assembly includes a Z-guide rail, a Z-slider that cooperates with the Z-guide rail, and a Z-limiting block that restricts the position of the Z-slider. The Z-limiting block is pressed tightly against both sides of the Z-slider and locked to fix and constrain the Z-direction or vertical degree of freedom of the magnetic levitation vehicle.
[0008] In a preferred embodiment, the yaw flange includes a first flange and a second flange, the second flange being rotatable relative to the first flange. The testing equipment also includes at least one yaw limiting screw, which passes through and connects the corresponding limiting holes of the first flange and the second flange to constrain the yaw degree of freedom of the magnetic levitation vehicle.
[0009] In a preferred embodiment, the universal joint includes a first section and a second section, the second section being rotatable relative to the first section. The testing equipment also includes at least one nodding and rolling limiting screw, which passes through and connects the corresponding limiting holes of the first section and the second section to constrain the nodding and rolling degrees of freedom of the magnetic levitation vehicle.
[0010] The beneficial effects of this invention are as follows: The three-axis translational position parameter adjustment device includes an X-axis guide rail assembly, a Y-axis guide rail assembly, and a Z-axis guide rail assembly. The X-axis guide rail assembly can achieve movement in the X direction or laterally, the Y-axis guide rail assembly can achieve movement in the Y direction or longitudinally, and the Z-axis guide rail assembly can achieve movement in the Z direction or vertically. Therefore, it can test the lateral, longitudinal, and vertical movements of a maglev vehicle. The three-axis rotational attitude parameter adjustment device includes a swaying flange and a cross-axis universal joint. The second flange of the swaying flange is rotatable relative to the first flange, enabling yaw motion control testing of the maglev vehicle. The swaying of the cross-axis enables pitching and roll motion control testing of the maglev vehicle. This testing device can perform multi-degree-of-freedom motion control testing of maglev vehicles in the longitudinal, lateral, vertical, yaw, pitching, and roll directions. It can also perform static levitation, braking, and adaptive cruise control tests, as well as motion stability analysis and disturbance rejection analysis tests. Attached Figure Description
[0011] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0012] Figure 1 This is a three-dimensional schematic diagram of the multi-degree-of-freedom motion testing device in the embodiments of this utility model;
[0013] Figure 2 yes Figure 1 A partial view;
[0014] Figure 3 This is a front view schematic diagram of the multi-degree-of-freedom motion testing device in an embodiment of this utility model;
[0015] Figure 4 yes Figure 1 A magnified view of a section at point A in the middle;
[0016] Figure 5 This is a schematic diagram of the test equipment used to test the roll of a magnetic levitation car in an embodiment of this utility model;
[0017] Figure 6 This is a schematic diagram of the testing equipment used in this embodiment of the invention to test the nodding of a magnetic levitation car;
[0018] Figure 7 This is a schematic diagram of the test equipment used in this embodiment of the invention to test the yaw of a magnetic levitation car. Detailed Implementation
[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. The components of the embodiments of this utility model described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.
[0020] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this utility model, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0021] This utility model relates to the field of permanent magnet electric levitation experimental technology, specifically to a multi-degree-of-freedom motion testing device and method suitable for magnetic levitation vehicles. It can perform multi-degree-of-freedom motion control debugging for magnetic levitation vehicles, including forward and backward movement, left and right lateral movement, nose-nodding and rolling, yaw, buoyancy, static buoyancy control debugging, braking control debugging, trajectory tracking control debugging, and adaptive cruise control debugging. It can also perform motion stability analysis and disturbance rejection analysis tests.
[0022] Please refer to Figure 1 The present invention provides a multi-degree-of-freedom motion testing device suitable for magnetic levitation vehicles. The multi-degree-of-freedom motion testing mechanism for magnetic levitation vehicles includes a conductor plate 1, a base 2, and a three-axis translational position adjustment device.
[0023] Conductor plate 1 is placed on base 2. In one example, conductor plate 1 is a copper plate. During testing, the magnetic field generated by the magnetic wheel of the magnetic levitation car and conductor plate 1 move relative to each other in a confined space. The magnetic flux in conductor plate changes, generating an induced electromotive force, which in turn forms a strong induced current in conductor plate 1. The induced magnetic field generated by the induced current interacts with the magnetic field of the magnetic wheel, causing the magnetic wheel to generate levitation force and magnetic resistance.
[0024] Please refer to the reference. Figure 2 and 3 The three-axis translational position adjustment device includes an X-axis guide rail assembly 3, a Y-axis guide rail assembly 4, and a Z-axis guide rail assembly 5. In one example, the X-axis guide rail assembly 3 is also called a longitudinal guide rail, the Y-axis guide rail assembly 4 is also called a transverse guide rail, and the Z-axis guide rail assembly 5 is also called a vertical guide rail. In another example, X, Y, and Z represent the X-axis, Y-axis, and Z-axis in a spatial coordinate system. The X-axis guide rail assembly 3 is movable along the X-axis, the Y-axis guide rail assembly 4 is movable along the Y-axis, and the Z-axis guide rail assembly 5 is movable along the Z-axis.
[0025] X-guide rail assembly 3 is slidable relative to base 2 or frame. In one example, X-guide rail assembly 3 includes X-guide rail 31 and X-slider 32 cooperating with rail 31. Two sets of X-guide rails 31 are mounted on both sides of base 2 and are arranged parallel to each other. Slidable X-slider 32 is disposed on X-guide rail 31 and is slidable relative to X-guide rail 31 in the X direction. In one example, four X-slider 32 are cooperating and mounted on two sets of X-guide rails 3. Y-guide rail assembly 4 is directly or indirectly connected to X-guide rail assembly 3 and is slidable relative to X-guide rail assembly 3. Y-guide rail assembly 4 includes Y-guide rail 41 and Y-slider 42 cooperating with Y-guide rail 41.
[0026] In one example, the X-axis guide rail is directly mounted on the X-slider 32. In another example, the three-axis translational position adjustment device includes an XY connector 43, through which the Y-axis guide rail 41 engages with the X-slider 32. In one example, the XY connector is also referred to as a lateral support. Four sets of Y-axis sliders 42 engage with the Y-axis guide rail 41. In another example, the Y-axis guide rail assembly 4 also includes a guide rail connector 44 connecting two Y-axis guide rails 41.
[0027] The Z-axis guide rail assembly 5 is directly or indirectly connected to the Y-axis guide rail assembly 4, and the Z-axis guide rail assembly 5 is slidable relative to the Y-axis guide rail assembly 4. In one example, the Z-axis guide rail assembly includes a Z-axis guide rail 51, a Z-slider 52 that mates with the Z-axis guide rail 51, and a Z-axis support frame 53, also called a vertical support frame. The Z-axis support frame 53 is fixedly mounted above four sets of transverse sliders 32. Two sets of Z-axis guide rails 51 are vertically parallel and mounted on the front side of the vertical support frame 53. Two sets of Z-slider sliders 52 are mated and mounted on the Z-axis guide rail 51.
[0028] It should be understood that the number of X-axis guide rails, Z-axis guide rails, and Z-axis guide rails should be selected as needed.
[0029] Please return to the reference. Figure 1 At least one X-limit block 35 is installed at each end of the X-guide rail 31. At least one Y-limit block 45 is installed at each end of the Z-guide rail 41. At least one limit block 55 is installed at each end of the Z-guide rail 51. Limit blocks 35, 45, and 55 are used to constrain the adjustment range of the triaxial position and ensure test safety.
[0030] Locking four sets of X-direction limiting blocks 35 or lateral limiting blocks can fix and constrain the X-direction or lateral degree of freedom of the entire vehicle 9, limiting the maximum position of the X-direction degree of freedom. Locking four sets of Y-direction limiting blocks 45 or longitudinal limiting blocks can fix and constrain the Y-direction or longitudinal degree of freedom of the entire vehicle 9, limiting the maximum position of the Y-direction degree of freedom. Locking two sets of Z-direction limiting blocks 55 or longitudinal limiting blocks can fix and constrain the Z-direction or vertical degree of freedom of the entire vehicle 9, limiting the maximum position of the Z-direction degree of freedom.
[0031] Please refer to Figure 3 and 4 This testing equipment also includes a three-axis rotary attitude adjustment device, which includes a sway flange 61 and a universal joint 62. The sway flange 61 is installed below the vertical support 53, and the universal joint 62 is suspended below the sway flange 15 via an adapter 63. The adapter 63 and the sway flange 61 are connected and fixed by bolts. The magnetic levitation vehicle 9 is suspended below the universal joint 62 via a connecting bracket 64, which is rotatable relative to the sway flange 61. The magnetic levitation vehicle 9 is positioned above the conductor plate 1.
[0032] Please refer to the reference. Figure 5-7 After the adapter 63 and the sway flange 61 are fixed together with bolts, the universal joint 62 includes a first section 621 and a second section 622 that is rotatable relative to the first section 621. The sway flange 61 is a rotating component that can rotate relative to its central axis. The sway flange 61 includes a first flange plate 611 and a second flange plate 612, the second flange plate 612 being rotatable relative to 611. 。
[0033] Please refer to Figure 7 The second flange 612 of the sway flange 61 can rotate freely relative to the first flange 612 along the Z-axis, allowing the maglev car to move freely in the yaw direction. This releases the yaw degree of freedom of the maglev car 9, making it convenient to conduct yaw motion control tests on the maglev car.
[0034] Please refer to Figure 5 and Figure 6 The second section 622 of the universal joint 62 can rotate freely relative to the first section 621 along the X and Y axes, allowing the magnetic levitation vehicle to move freely in the roll and nod directions. Figure 5 In the middle section, the second section 622 can swing to the side of the car 9 at any angle, which can release the roll freedom of the magnetic levitation car 9 and facilitate the test of the roll motion control of the magnetic levitation car. Figure 6 In the middle section, the second section 622 can swing to a certain angle toward the front or rear of the maglev car 9, which can release the nodding degree of freedom of the maglev car 9 and facilitate the testing of the nodding motion control of the maglev car.
[0035] The experimental methods for constraining and releasing the six degrees of freedom motion of a magnetic levitation car are as follows.
[0036] Longitudinal or X-axis freedom constraint and release: By making the four sets of longitudinal or X-axis limiting blocks 35 tightly attached to both sides of the longitudinal or X-axis slider 32 and locking them, the longitudinal freedom of the magnetic levitation vehicle can be fixed and constrained; by making the four sets of longitudinal limiting blocks 35 move away from both sides of the XY connector 43 and translate them along the longitudinal or X-axis guide rail 41 to both ends and locking them, the longitudinal freedom of the magnetic levitation vehicle can be released within the effective range.
[0037] Lateral or Y-axis degree of freedom constraint and release: By making the 8 sets of lateral or Y-axis limiting blocks 45 tightly attached to both sides of the lateral or Y-axis slider 42 and locked, the lateral degree of freedom of the magnetic levitation vehicle can be fixed and constrained; by making the 8 sets of lateral limiting blocks 45 move away from both sides of the lateral slider 42 and translate along the lateral or Y-axis guide rail 41 to both ends and lock the limiting, the longitudinal degree of freedom of the magnetic levitation vehicle can be released within the effective range.
[0038] Vertical or Z-axis degree of freedom constraint and release: By making the four sets of vertical or Z-axis limiting blocks 55 tightly attached to both sides of the vertical or Z-axis slider 52 and locking them, the vertical degree of freedom of the magnetic levitation vehicle can be fixed and constrained; by making the four sets of vertical limiting blocks 55 move away from both sides of the vertical slider 52 and translate them along the vertical or Z-axis guide rail 51 to both ends and locking them, the vertical degree of freedom of the magnetic levitation vehicle can be released within the effective range.
[0039] Yaw freedom constraint and release: The yaw freedom of the maglev vehicle can be constrained by passing through the corresponding limiting holes of the first flange plate 611 and the second flange plate 612 of the yaw flange 61 with at least one yaw limit screw 64; the yaw freedom of the maglev vehicle can be released by disconnecting the yaw limit screw 64.
[0040] Nodding and roll freedom constraints and releases: The nodding and roll freedoms of the maglev car can be constrained by passing through the corresponding limiting holes of the first section 621 and the second section 622 of the cross shaft universal joint 62 via at least one nodding and roll limiting screw 65; the nodding and roll freedoms of the maglev car can be released by disconnecting the connection of the nodding and roll limiting screw 65.
[0041] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
[0042] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.
Claims
1. A multi-degree-of-freedom motion testing device suitable for magnetic levitation vehicles, characterized in that, The testing equipment includes a conductor plate, a base, and a three-axis translational position adjustment device. The conductor plate is disposed on the base. The three-axis translational position adjustment device includes an X-axis guide rail assembly, a Y-axis guide rail assembly, and a Z-axis guide rail assembly. The X-axis guide rail assembly includes an X-axis guide rail and an X-axis slider that cooperates with the X-axis guide rail. The Y-axis guide rail assembly includes a Y-axis guide rail, a Y-axis slider that cooperates with the Y-axis guide rail, and a Y-axis limiting block that restricts the position of the Y-axis slider. The Z-axis guide rail assembly includes a Z-axis guide rail, a Z-axis slider that cooperates with the Z-axis guide rail, and a Z-axis limiting block that restricts the position of the Z-axis slider. The three-axis translational position adjustment device includes an XY connector, through which the Y-axis guide rail cooperates with the X-axis slider.
2. The multi-degree-of-freedom motion testing device for magnetic levitation vehicles according to claim 1, characterized in that, The testing equipment also includes a three-axis rotary attitude adjustment device, which includes a sway flange and a cross-shaped universal joint, and the sway flange and the cross-shaped universal joint are connected by an adapter.
3. The multi-degree-of-freedom motion testing device for magnetic levitation vehicles according to claim 2, characterized in that, The yaw flange includes a first flange and a second flange, the second flange being rotatable relative to the first flange. The testing equipment also includes at least one yaw limiting screw, which passes through and connects the corresponding limiting holes of the first flange and the second flange to constrain the yaw degree of freedom of the magnetic levitation vehicle.
4. The multi-degree-of-freedom motion testing device for magnetic levitation vehicles according to claim 2, characterized in that, The universal joint includes a first section and a second section, the second section being rotatable relative to the first section. The testing equipment also includes at least one nodding and rolling limiting screw, which passes through and connects the corresponding limiting holes of the first section and the second section to constrain the nodding and rolling degrees of freedom of the magnetic levitation vehicle.