59 results about "Electromagnetic suspension" patented technology

The embodiment of the invention relates to a suspension collaborative steering and fault-tolerant method for a wave adaptive unmanned ship, and the method comprises the steps: collecting the environment perception information and attitude data of the unmanned ship in real time, and carrying out the fusion processing, and generating a multi-source data matrix; pre-judging the front sea condition based on the multi-source data matrix, and when the sea condition characteristic parameters meet preset dynamic adjustment conditions, adjusting the expansion and contraction amount of each group of electromagnetic suspensions in a pre-judgment time window so as to form a draught gradient adapting to the sea condition change; when a steering instruction is received, the draft difference of floating bodies on the two sides of the unmanned ship and the thrust difference of propelling systems on the two sides are synchronously adjusted, so that the steering track is controlled, and transverse inclination of the ship body is restrained; in the sailing process, the working states of the electromagnetic suspension and the propelling system are monitored in real time, faults are classified, when it is detected that the execution units are abnormal, a fault-tolerant reconstruction strategy is triggered according to the fault types, and stress distribution or propelling thrust is reconstructed by locking abnormal parts and utilizing the remaining execution units, so that the sailing capacity of the unmanned ship is maintained.

The invention relates to the technical field of magnetic suspension planar motors, and discloses an electro-magnetic magnetic suspension planar motor coil configuration, which comprises a planar motor stator formed by a plurality of equivalent N-pole coils and a plurality of equivalent S-pole coils, the plurality of equivalent N-pole coils are arranged in a rectangular array, each equivalent S-pole coil is arranged among four adjacent equivalent N-pole coils, and the equivalent S-pole coils are arranged in a rectangular array. The middle radius of each equivalent N-pole coil is shrunk, the radiuses of the two ends of each equivalent S-pole coil are shrunk, the sections of the equivalent N-pole coils and the equivalent S-pole coils are double-trapezoid, and the current directions of the equivalent N-pole coils and the equivalent S-pole coils are opposite; the planar motor rotor is positioned above the planar motor stator and is formed by stacking a plurality of layers of ceramic-based printed coil circuit board groups with the same configuration at the same position; a cooling system is arranged on the planar motor stator; thermal demagnetization of the motor can be avoided, array parameters can be adjusted in real time, the harmonic proportion in magnetic field distribution is reduced, the motion precision of the motor is improved, and the purpose of improving the performance of the motor is achieved.

The invention provides a vehicle electromagnetic suspension assembly, a vehicle suspension system and a vehicle. The vehicle electromagnetic suspension assembly comprises a first supporting piece, a second supporting piece, an elastic piece and an electromagnetic driving device. The first supporting piece is used for being installed on a frame of a vehicle. The second supporting piece is used for being installed on a wheel of the vehicle. The elastic piece is supported between the first supporting piece and the second supporting piece and stretches out and draws back in the linear direction. The electromagnetic driving device is supported between the first supporting piece and the second supporting piece and actively applies damping force to drive the second supporting piece to move relative to the first supporting piece in the direction parallel to the straight line. The system is high in performance upper limit, simple in structure, high in response speed and capable of meeting user requirements.

The application discloses a kind of based on binocular camera formula hybrid electromagnetic suspension control system, including travel information detection unit, binocular camera comprehensive evaluation index calculation unit, binocular camera formula hybrid electromagnetic suspension control mode selection unit, binocular camera formula hybrid electromagnetic suspension execution unit.Travel information detection unit is used to obtain outdoor temperature, full energy feedback control mode execution time, half energy feedback half energy consumption control mode execution time, full energy consumption control mode execution time;Binocular camera comprehensive evaluation index calculation unit is used to calculate image pre-detection evaluation factor, original image correction evaluation factor, temperature compensation evaluation factor, to obtain binocular camera comprehensive evaluation index;Binocular camera formula hybrid electromagnetic suspension control mode selection unit includes full energy feedback control mode, half energy feedback half energy consumption control mode, full energy consumption control mode;Binocular camera formula hybrid electromagnetic suspension execution unit is adjusted according to different control mode to vehicle corresponding rule.

The invention discloses an electromagnetic suspension based on a planetary roller screw and a permanent magnet fault-tolerant motor, and belongs to the technical field of vehicle suspensions and motor driving. The electromagnetic suspension comprises a permanent magnet fault-tolerant motor, a reverse planetary roller screw and a spring. The permanent magnet fault-tolerant motor serves as a driving source, a rotor of the permanent magnet fault-tolerant motor is integrated with the lead screw nut, the permanent magnet fault-tolerant motor rotates to enable the pin rollers to rotate and revolve around the lead screw at the same time, then the rotating motion is converted into linear motion of the lead screw, and therefore axial acting force is output. The spring is connected with the shell and the lower connector, mainly bears the static weight of the vehicle body and has a synergistic effect with the acting force output by the motor. The device is compact in structure, high in transmission efficiency, good in fault-tolerant operation capacity, good in reliability, high in road impact resistance and capable of effectively restraining vibration of a vehicle body.

A primary assembly (1), a linear motor (6), an electromagnetic suspension (7) and a vehicle (8). The primary assembly (1) comprises an iron core (5), a separator (13) and a drain port (172), the iron core (5) is provided with an accommodating chamber (100); the separator (13) is arranged in the accommodating chamber (100), and the separator (13) separates the accommodating chamber (100) along the axial direction of the accommodating chamber (100) to form a first chamber (1001); the drain port (172) is in fluid communication with the first chamber (1001), and the drain port (172) is arranged away from the separator (13); coolant enters the first chamber (1001) via a supply port (172) disposed close to the separator (13), and is discharged out of the accommodating chamber (100) via the drain port (172).

The invention discloses an intelligent control system and method based on rotary cylinder sail electromagnetic suspension type supporting. The system comprises a distance measuring sensing module, an intelligent control cabinet and a rotary cylinder control cabinet. The distance measurement sensing module comprises a plurality of distance measurement sensors which are uniformly arranged on the outer wall of an internal steel tower of the rotary drum sail in an annular array, measure the radial distance between the internal steel tower and an external rotary drum in real time and output a detection signal; the intelligent control cabinet is arranged in the rotary drum sail base and used for collecting inertial data of a ship and providing exciting current for the inner tower excitation module, so that the inner tower excitation module and the outer drum permanent magnet module form homopolar mutual exclusion magnetic field resultant force, and the exciting current is dynamically adjusted through a self-adaptive algorithm on the basis of the inertial data and a distance detection signal. Magnetic suspension dynamic balance of the external rotary cylinder is maintained, and a suspension state signal is generated; the rotating cylinder control cabinet is arranged in the base and used for sending working state signals such as starting / stopping, receiving suspension state signals and judging whether the rotating speed of the outer cylinder needs to be adjusted or not, and if adjustment is needed, the motor transmission mechanism is driven to change the rotating speed.

The application relates to the technical field of electromagnetic suspension, and provides a multi-layer loop control method and system of an electromagnetic suspension for coordinating vehicle performance and a vehicle.The method comprises the following steps: obtaining vehicle and motor state information through a preset sensing unit; a suspension controller calculates target control force and generates a control instruction based on a vehicle performance target and a control model; after receiving the instruction, a driving layer of an electromagnetic execution unit adopts an algorithm of FOC three-closed-loop control combined with a state observer, a current loop proportional integral control is used to track a target current, a speed loop and a position loop construct a sliding mode surface based on a state deviation through sliding mode control to design a control law, and a motor is driven to output corresponding electromagnetic force through coordinate inversion and space vector pulse width modulation.The method simultaneously compensates for the interference of motor electromagnetic characteristics, vehicle posture changes and external disturbances on motor output, accurately realizes suspension actuation control through multi-layer loop coordinated control, and effectively improves vehicle driving smoothness and safety.

The application discloses a variable stiffness and damping automobile self-tuning electromagnetic suspension, which comprises a stator shell, end covers fixedly connected to both ends of the stator shell and a mover inner core; the mover inner core is movably installed in the stator shell, two groups of coils are arranged on the mover inner core, and a plurality of tooth-shaped structures are arranged on the stator shell and the mover inner core on the left and right sides of each group of coils; a conductive copper ring is arranged at the inner wall of the stator shell on the side of one group of coils; linear bearings and supporting springs are sleeved on both ends of the mover inner core; one end of the supporting spring is fixed to the end cover, and the other end is directed to the shaft shoulder of the mover inner core; the end of the mover inner core on the side of the conductive copper ring is led out from the same side end cover and connected with a knuckle bearing, and the end cover on the other side is connected with the knuckle bearing. The application introduces two groups of electromagnetic coils to control the magnetic field intensity of electromagnetic springs and electromagnetic dampers, so that the stiffness and damping of the shock absorber can be independently tuned.

The invention discloses a collision control method, system and device based on an electromagnetic suspension, which are applied to collision control equipment based on the electromagnetic suspension, and the method comprises the following steps: receiving data of inertial measurement equipment, a vehicle body stability controller and safety airbag control equipment in real time, and determining a vehicle state; and according to the vehicle state, each electromagnetic suspension actuator is controlled to be adjusted to the corresponding electromagnetic flux state. According to the method, through accurate regulation and control of electromagnetic flux, the balance and stability of a vehicle body are actively maintained in the emergency braking and collision process, pitching and side tipping are effectively restrained, a better survival posture is provided for a passenger compartment, and in cooperation with passive safety systems such as an air bag, the safety during collision can be remarkably improved, and harm caused by collision is reduced; the advantages of simple structure and light weight of the electromagnetic suspension device are fully utilized, the safety is improved, the problems of high energy consumption of a hydraulic system or high cost and low reliability of an air system are solved, and unification of safety, energy efficiency and reliability is achieved.

The invention discloses an electromagnetic drive control system and method, and the system comprises an electromagnetic track which comprises a plurality of drive coils which are used for generating a moving magnetic field; the sample support is arranged in the electromagnetic track, internally provided with a magnet and directionally moves along the electromagnetic track under the action of the moving magnetic field; the position / speed detection module is used for collecting motion state data of the sample support in real time; the control module is integrated with an FOC control algorithm and regulates and controls the driving current according to the motion state data; and the driving module performs current modulation on the driving coil according to the driving current to generate a moving magnetic field. According to the control system, the sample support can obtain high acceleration and speed, and the sample support can stably run in the electromagnetic track by continuously moving the magnetic field.

The invention relates to the technical field of electromagnetic suspensions, and provides an electromagnetic suspension multi-layer loop control method and system for vehicle performance coordination and a vehicle. Comprising the steps that vehicle and motor state information is obtained through a preset sensing unit, and a suspension controller calculates and outputs target control force through a control model based on a whole vehicle performance target and generates a control instruction; after an electromagnetic execution unit driving layer receives an instruction, FOC three-closed-loop control is combined with an algorithm of a state observer, target current is controlled and tracked through current loop proportional-integral, a speed loop and a position loop construct a sliding mode surface design control law based on state deviation through sliding mode control, and the target current is obtained. And the motor is driven to output corresponding electromagnetic acting force through coordinate inverse transformation and space vector pulse width modulation. And meanwhile, interference of electromagnetic characteristics of the motor, vehicle posture changes and external disturbance on motor output is compensated, suspension actuation control is accurately achieved through multi-layer loop coordination control, and vehicle running smoothness and safety are effectively improved.

The invention discloses an intelligent automobile electromagnetic suspension and a control method. The intelligent automobile electromagnetic suspension comprises a cylinder barrel assembly, a piston assembly and a temperature control assembly. The cylinder barrel assembly is formed by coaxially sleeving an inner cylinder barrel and an outer cylinder barrel, the inner cylinder barrel hermetically accommodates hydraulic oil, and a spiral induction coil is fixed on the inner wall of the outer cylinder barrel; the piston assembly comprises an upper permanent magnet piston and a lower permanent magnet piston which are arranged in a homopolar opposite mode, and the relative movement of the upper permanent magnet piston and the lower permanent magnet piston generates induced current to achieve electromagnetic damping and vibration energy recovery. A spiral transmission mechanism is arranged between the upper piston and the lower piston and drives the spoiler blades to rotate so as to forcibly and uniformly stir the hydraulic oil; the temperature control assembly adopts a semiconductor chilling plate, the hydraulic oil is heated or cooled by switching the power supply polarity, and the working temperature of the hydraulic oil is dynamically maintained. Triple mechanisms of hydraulic damping, electromagnetic induction and active temperature control are fused, the problem of performance instability caused by oil temperature drift is effectively solved, meanwhile, energy recovery and self-adaptive optimization of suspension performance under all working conditions are achieved, and the comfort, the control stability and the energy efficiency level of a vehicle are remarkably improved.

The invention relates to a linear motor, an electromagnetic suspension and a vehicle. The linear motor comprises a sleeve, an iron core, magnetic steel, a winding and a bearing, the iron core is sleeved in the sleeve, one of the magnetic steel and the winding is arranged on the inner wall of the sleeve, and the other one of the magnetic steel and the winding is arranged on the iron core; when the magnetic steel is arranged on the inner wall of the sleeve, the bearing is located in an annular gap between the magnetic steel and the iron core. When the magnetic steel is arranged on the iron core, the bearing is located in an annular gap between the magnetic steel and the inner wall of the sleeve.

A vehicle control method, comprising: determining parameters of an electromagnetic suspension of a vehicle on the basis of a target main driving force; and on the basis of the parameters, controlling the electromagnetic suspension to adjust a pitch angle of the vehicle. In the method, by adjusting the target main driving force in real time, the pitch index of the vehicle is controlled more smoothly, thereby better meeting the gradual change requirements of human perception. Further comprised are a vehicle control method, a vehicle motion controller, a vehicle control system, and a vehicle.

The invention relates to an electromagnetic suspension system for an automobile. The control stability and riding comfort of the electromagnetic suspension system are improved. According to the system, the constant supporting force is provided at the original position of the wheel, the supporting force is gradually reduced when the wheel moves up and down, and the better comfort and damping effect are achieved. The suspension system depends on a nonlinear electromagnetic force change function k * sinx * sinx * cosx, and can provide riding experience which is not inferior to that of an active electromagnetic suspension system without actively adjusting current when keeping uniform linear motion on a horizontal plane and passing through a bumpy road surface within a suspension stroke. A sensor is needed to adjust the current only when the vehicle body is kept stable. By means of the design, energy consumption can be greatly reduced. Furthermore, the building material of the system is selected from stainless steel, steel and / or plastic to ensure long-term durability and reliability. The system has the advantages of efficient comfort, low energy consumption, simplified design, excellent response performance and the like. The system can provide high-level stability and comfort even if current is not adjusted when the vehicle runs linearly at a constant speed on the horizontal plane, the effect is not inferior to that of active electromagnetic suspension, the system is particularly suitable for the vehicle needing high adaptability and dynamic adjustment capacity, a high-performance and low-cost solution is provided, and the system is suitable for popularization and application. And the method has remarkable market competitiveness and wide application prospects.

A rail-holding and forward and reverse reciprocating double-magnetic-suspension bed capable of doing forward and reverse reciprocating motion is characterized by having four functions of a common bed, independent and double magnetic suspension, forward and reverse reciprocating motion and intelligent electric control, an annular steel plate assembly (11), a two-pole magnet set (9) and a suspension bracket (5) are riveted into a whole through rivets (13), and a suspension bracket assembly is formed; an annular electromagnet assembly (10) is fixed to a lower opening of a track (3) through rivets (13) to form a track assembly, a suspension bracket assembly is installed on a base (1), and a lower base (2), the track assembly and an upper base (4) are sequentially assembled in the center of the suspension bracket assembly from bottom to top and fixed through screws respectively. The two-pole magnet set (9) is fixed to the upper edge of the outer vertical face of the cylindrical upper base (4) and installed corresponding to the two-pole magnet set (9) on the suspension bracket (5), the bed panel (6) is arranged on a bearing base of the suspension bracket assembly, a radiation protection pad (27) and a physiotherapy mattress (7) are arranged on the bed panel (6), the bed panel (6) is matched with the bed head (8), the bed is a single magnetic suspension bed when electromagnetic suspension is not started, and the bed is a common bed when single magnetic suspension is removed.

This invention discloses a low-altitude hovering aircraft, comprising a fuselage, solar panels, an electromagnetic levitation module, a propellerless fluid propulsion system, and a sodium-ion battery pack. The fuselage integrates an intelligent flight control module, a positioning and tracking module, an ultrasonic anti-collision module, and a self-circulating charging module. The fuselage is an integrated, enclosed structure without wheels, wings, or propellers. The solar panels are mounted on the fuselage surface to convert solar energy into electrical energy for autonomous recharging. The electromagnetic levitation module is installed at the bottom of the fuselage to generate vertical levitation force. Through the design of the propellerless fluid propulsion system, there are no rotating blades or mechanically moving friction parts throughout the flight, eliminating wear and tear and reducing flight noise and fuselage vibration, achieving quiet low-altitude flight, complying with urban low-altitude noise control standards, and offering more environmentally friendly and stealthy operation.

The application belongs to the technical field of vehicle control, and provides an anti-impact electromagnetic suspension system and a control method, the system comprising: an electromagnetic damper, an air spring and an external resistance control unit, the electromagnetic damper comprising a damper shell, a ball screw, a screw nut, a vibration transmission device and an anti-impact device, a coil being bonded in the damper shell; the vibration transmission device is matched with the screw nut through the anti-impact device; the outer surface of the rotating shell is uniformly covered with magnets. The application omits the motor, the shaft coupling and other components in the general electromagnetic damper, designs the ball screw, the coil and the magnets generated by the electromagnetic damping to the same plane, significantly reduces the axial length of the damper, controls the switch of the external resistance through a semi-active control strategy, further controls the current inside the coil, controls the size of the ampere force, and realizes the real-time control of the electromagnetic damper.

The invention relates to a bow spring lever reinforcement circulating magnetic suspension power machine, which is mainly characterized in that a lever has an amplification force, a lever reinforcement circulating force, a bow is used as a bracket, a spring has a lever fulcrum absorption reaction force and a lever supporting elastic force, and electromagnetic suspension has a strong thrust, and the three forces are organically combined together, so that the strong amplification force of the lever is exerted. The first time is that the lever self-reinforcement circulates the prying force, and the second time is that the lever pries the wheel arm to generate the axle relation force, so that the power increment is obtained. The device is used for generating electricity and serving as power.

This invention relates to the field of bearing steel ball inspection technology, and in particular discloses a visual inspection device for batch inspection of bearing steel balls. The device includes a frame and a feeding mechanism, an electromagnetic levitation channel, and a conveying mechanism arranged sequentially along the conveying direction. The electromagnetic levitation channel is composed of multiple annular electromagnetic coils, with an external diameter adjustment component and internally arranged sequentially along the conveying direction, including an eddy current pre-inspection module, a fiber optic micro-trace detection module, and a visual precision inspection module. A processor is installed on the frame, which fuses eddy current, fiber optic, and visual inspection data to determine surface and subsurface defects of the steel balls, and completes sorting via the conveying mechanism. The advantages are: by employing a multi-level, multi-modal inspection strategy combining eddy current pre-inspection, fiber optic micro-trace detection, and visual precision inspection, it achieves full-dimensional defect detection from subsurface to surface and from macroscopic to microscopic dimensions, significantly reducing the false positive rate and the missed detection rate.

The application relates to the technical field of unmanned ships, and discloses a method for actively controlling the posture of an unmanned ship and recovering wave energy and the unmanned ship, wherein the unmanned ship comprises a main ship body, a plurality of groups of float suspension assemblies, each group of float suspension assemblies comprises a float unit, an electromagnetic suspension system and a wave energy recovery unit, the top of the electromagnetic suspension system is hinged to the main ship body, the bottom of the electromagnetic suspension system is hinged to the float unit, the wave energy recovery unit is electrically connected to the power output end of the electromagnetic suspension system, an MOSFET switch is electrically connected to the power output end of each electromagnetic suspension system, a control module is in communication connection with each wave energy recovery unit and each electromagnetic suspension system, the control module controls the wave energy recovery unit to be in a charging mode, controls the wave energy recovery unit to be in a discharging mode, and regulates and controls the posture of the unmanned ship, and the control module is also connected to the MOSFET switch to control the conduction path of the MOSFET switch. In this way, the posture of the unmanned ship can be actively controlled, and sufficient electric energy can be supplied to the unmanned ship.

The invention discloses an energy-saving type electromagnetic suspension for an automobile. The energy-saving type electromagnetic suspension comprises a cylinder barrel assembly, a piston assembly, a temperature control assembly and a suspension spring. The piston assembly is formed by connecting an upper permanent magnet piston and a lower permanent magnet piston through a rectangular spring and cuts an induction coil to generate electric energy during reciprocating motion to form electromagnetic damping and drive a semiconductor chilling plate to work. The temperature control assembly utilizes the electric energy to achieve bidirectional temperature control of hydraulic oil, refrigeration in summer prevents thin oil, and heating in winter prevents thick oil. The piston is provided with a variable oil passing structure and is matched with the shifting piece and the mounting piece to achieve two-stage buffering of the compression / extension stroke. The lower end of the whole machine is hinged to a lower control arm through a rubber bushing, the upper end is fixed to a vehicle body through an assembly plate, and a suspension spring is installed between a spring seat and an installation cover and completely compatible with an original vehicle installation interface. The inner cylinder barrel is provided with heat conduction fins, and the air duct system is driven by a brushless motor to form a closed cold / heat cycle. The energy recovery, intelligent temperature control and self-adaptive damping are integrated, and the energy efficiency, comfort and environmental adaptability of the suspension are remarkably improved.

The invention discloses a directional controllable growth method of high-purity polycrystalline silicon, which relates to the technical field of material science and engineering, and comprises the following steps: realizing impurity atomic-scale control and non-contact smelting through a four-order synergistic process, performing electromagnetic suspension melting on industrial silicon materials in an inert coating crucible (1420-1450 DEG C, less than or equal to), separating melt from the inner wall of the crucible, and thoroughly blocking an oxygen-carbon pollution source; plasma targeted impurity removal is conducted, specifically, pulse plasma beams (50-200 W / cm, 10-30 min) with the ratio of 4: 1 are adopted for bombarding the surface of the melt, and boron and phosphorus impurities are removed through in-situ gasification; magnetic field coupling directional solidification is conducted, the axial temperature gradient is controlled to be 30-50 DEG C / cm, the solidification rate is controlled to be 0.5-2 cm / h, a transverse alternating magnetic field (0.1-0.5 T, 5-20 Hz) is overlaid to inhibit dendritic crystal deflection, and impurities are driven to be enriched towards the top; and 10-15% of an enrichment layer at the top is cut off, so that a high-purity silicon ingot with oxygen less than or equal to 0.1 ppm, carbon less than or equal to 0.1 ppm and boron phosphorus less than or equal to 0.05 ppb is obtained, and the standard of a 3nm chip substrate is met.

The invention discloses an electromagnetic suspension temperature control method and related equipment, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining the temperature information and working current of an electromagnetic actuator; determining an expected thermal load coefficient based on the road information of the target vehicle in the advancing direction; determining a target cooling liquid flow corresponding to the electromagnetic actuator based on the temperature information, the working current and the expected thermal load coefficient; and based on the target cooling liquid flow, a cooling system in the target vehicle is controlled to cool the electromagnetic actuator, so that the temperature of the electromagnetic actuator is maintained within the preset temperature interval. By fusing real-time temperature and current detection, road preview thermal load prediction and accurate cooling flow control, the electromagnetic actuator can keep proper temperature under different working conditions, efficient, prospective and fine thermal management can be realized, and the performance stability and the overall reliability of the electromagnetic actuator are improved.

The present application relates to the technical field of electric machines, and discloses a linear motor and a vehicle electromagnetic suspension, the linear motor comprising: a motor stator and a motor rotor, the motor stator and the motor rotor being in a cylindrical shape, the axial length of the motor rotor being greater than the axial length of the motor stator; a guide assembly, the guide assembly being arranged between the motor stator and the motor rotor, and comprising a sliding block, a fixing member and a guide rail, the sliding block and the guide rail being in sliding connection, the sliding block being arranged on the motor stator, the fixing member being arranged at both ends of the motor stator to fix the sliding block, and the guide rail being arranged on the motor rotor. The structure of the present application is more compact, the volume can be reduced, the miniaturization and light weight of the motor can be realized, and large thrust density can be achieved, thereby breaking through the problems of large volume, heavy weight and high cost of the linear motor used by the electromagnetic suspension of the vehicle in the related art.

The utility model discloses a housing, a secondary assembly, a motor, an electromagnetic suspension and a vehicle. The housing comprises a housing body. The shell is used for a secondary assembly of the motor, mounting grooves used for mounting magnetic steel are formed in the inner circumferential wall of a shell body, the mounting grooves extend in the axial direction of the shell body, and the multiple mounting grooves are formed in the circumferential direction of the shell body at intervals. According to the shell of the utility model, the plurality of mounting grooves on the shell can limit the magnetic steel, so that the magnetic steel can be prevented from falling off, the stability of the magnetic steel is improved, and the possibility of a motor chamber sweeping phenomenon caused by the movement of the magnetic steel can be reduced.

The invention relates to the technical field of ship intelligent monitoring and computer vision, in particular to a multi-azimuth face acquisition device for an ocean fishing boat steering wheel, which comprises a mounting frame and a lens module, side positioning frames are fixedly arranged on two sides of the bottom of the mounting frame, and movable clamping blocks are movably arranged on opposite sides of the two side positioning frames. Through belt and thread transmission, the acquisition height of the lens module can be stably and accurately adjusted; the angle adjusting structure is driven by gear meshing and a servo motor, flexible adjustment of the horizontal position and the rotation angle of the electromagnetic suspension frame is achieved, the face collection coverage angle is greatly enlarged, and the multi-azimuth postures of sailors in the steering wheel area can be effectively collected. The electromagnetic suspension frame is driven by double-shaft electromagnetism, a high-precision sensor and PID (Proportion Integration Differentiation) closed-loop control, so that the posture change of the bumpy ship body is compensated in real time, the lens module is kept relatively stable, the problems of fuzzy imaging and off-target acquisition caused by bumpy fishing boats are solved, and the definition and stability of face acquisition are improved.

The invention provides an active electromagnetic suspension device for a railway vehicle and a control method. The electromagnetic suspension device comprises a suspension system, a monitoring component and a control unit, the suspension system comprises a composite electromagnetic actuator arranged between a vehicle body and a framework of the railway vehicle. The composite electromagnetic actuator is used for providing main power and damping force; the monitoring component is arranged on the railway vehicle and is used for monitoring the track irregularity state; the control unit is in communication connection with the composite electromagnetic actuator and the monitoring component. According to the electromagnetic suspension device provided by the invention, the rigidity and damping of the suspension system are actively regulated and controlled in real time through the cooperation of the composite electromagnetic actuator, the monitoring component and the control unit. In this way, the device can dynamically conduct adaptive adjustment between the needed high supporting rigidity and the needed high damping flexibility according to the unsmooth state of the rail and the vehicle running working condition.

The present application provides a kind of electromagnetic levitation train track system, track is arranged on both sides of roadbed or track beam, magnetic levitation train is driven on track, the horizontal setting traction guide electromagnet is set on both sides of the magnetic levitation train, the pole direction of traction guide electromagnet is horizontally arranged, the position corresponding to traction guide electromagnet on track is horizontally arranged linear motor stator, linear motor stator is composed of stator coil and stator core, the pole direction of stator core is horizontally arranged, the working surface of traction guide electromagnet is parallelly arranged with the working surface of stator core and is spaced apart a certain magnetic force gap to form core linear motor, the bottom of magnetic levitation train is provided with E-shaped section levitation electromagnet, the bottom of track is horizontally arranged armature plate above levitation electromagnet and is spaced apart a certain magnetic force gap.The present application controls the current size and direction of traction guide electromagnet and linear motor stator coil by control system, controls the size and direction of horizontal guide and levitation force and traction force, so that magnetic levitation train levitates and flies.