592 results about "Maglev" patented technology

The invention provides a high-speed magnetic levitation suspension system control method and system based on edge calculation and Transform prediction, and the method comprises the steps: constructing a Transform prediction model with a space-time attention mechanism and an autoregression mechanism based on obtained local low-delay calculation resources and train real-time sensing data, and deploying the Transform prediction model in a vehicle-mounted edge calculation unit; performing short-term high-precision prediction on the gap, the acceleration and the disturbance trend at a plurality of sampling moments in the future through a Transform prediction model to obtain a prediction result; processing actuator current saturation and gap safety threshold hard constraints in a limited prediction domain by using a model prediction controller, and solving an optimization control sequence in real time in combination with a prediction result; and overlapping a control barrier function as a safety filter of the model prediction controller, correcting the optimized control sequence to obtain an optimal control sequence, and controlling the high-speed magnetic suspension system. According to the method, the cloud communication delay and jitter are reduced, and the robustness and security of the system under uncertain disturbance are improved.

The invention provides a maglev traffic track structure and a construction method thereof. The maglev traffic track structure comprises a bridge deck, a maglev track assembly and an induction plate assembly. The magnetic levitation rail assembly comprises a magnetic levitation rail, a hexagon nut, a gasket, a thin nut and a screw. The induction plate assembly comprises an iron core, an aluminum plate, shear nails and screws. The iron core is vertically welded and fixedly connected with the shear nails, the shear nails and the bridge deck are cast and anchored into a whole, the iron core is arranged on the upper end face of the bridge deck, and the aluminum plate is installed on the upper end face of the iron core through screws; the construction method comprises the steps that the prefabricated bridge deck slab is modularly poured in a factory, the magnetic levitation rail is installed, adjusted and locked in the factory, the levelness and straightness of the magnetic levitation rail are measured again, and the bridge deck slab is installed on a construction site. According to the invention, high-precision, high-efficiency and low-cost installation of the maglev traffic track is realized.

The invention discloses a suspension control fault detection and recovery method and device for a maglev train and a medium, and relates to the field of maglev trains, and the method comprises the following steps: S1, constructing a linearized suspension system model; s2, reconstructing a state vector, and generating a suspension gap estimation value; s3, constructing a health probe set, and executing a signal selection strategy; s4, detecting a slow change fault based on the statistical accumulation characteristic of the residual error, and outputting a slow change fault detection result; s5, monitoring the variation trend of the residual error, and triggering a reset mechanism to clear historical accumulated data when a reset condition is met; and S6, generating a final fault mark, and forcibly updating the fault mark to a normal state if a reset mechanism is triggered. According to the hierarchical collaborative decision-making architecture based on the maglev train lap joint structure dynamic model, the condition of performance degradation or failure does not occur in a real system by the algorithm, so that the engineering applicability and reliability of fault diagnosis are improved.

The invention provides a maglev traffic track connecting structure, a maglev traffic track and a construction method of the maglev traffic track. The connecting structure comprises a penetrating type sleeve, a long bolt, an elastic cushion set and a fastening assembly. The penetrating type sleeve penetrates in the thickness direction of the concrete cover plate. The long bolt sequentially penetrates through the track, the penetrating type sleeve and the induction iron core. The elastic pad set comprises a first elastic pad arranged between the top end of the penetrating type sleeve and the induction iron core and a second elastic pad arranged between the bottom end of the penetrating type sleeve and the track. The fastening assembly comprises a nut in threaded fit with the end of the long bolt, and the rail and the induction iron core are fixed to the upper side and the lower side of the concrete cover plate by screwing the nut. The connecting structure is simple and reliable, good in stress condition and convenient to operate and maintain. On one hand, the track is tightly attached to the bottom end face of the concrete cover plate, the stress condition of the long bolts is good, and shear failure is not prone to occurring. And on the other hand, on the basis of realizing adjustable precision, the replacement difficulty and cost of the induction iron core and the track are relatively low.

The invention discloses a confidence embedded model predictive control method, a medium and equipment, and belongs to the technical field of suspension control. According to the method, a kinetic equation of a suspension system is established, a data-mechanism dual-drive uncertainty quantification method is adopted, original operation data of a maglev train and suspension state information measured on line are utilized, and dynamic characteristic learning modeling is conducted on the suspension system under the constraint of the kinetic equation; state quantity distribution of suspension air gaps, vertical speed, electromagnet current and the like at future moments is predicted, and prediction mean values and prediction standard deviations of corresponding states are obtained. In model prediction control optimization, a nominal trajectory of the suspension system is constructed by a predicted state mean value, and a penalty term proportional to prediction uncertainty is added into a cost function; meanwhile, confidence coefficient constraint is constructed based on the predicted standard deviation, and dynamic constraint tightening of key physical quantities such as suspension air gaps, vertical speed and coil current is achieved. According to the invention, real-time sensing and self-adaptive closed-loop control of the operation risk of the suspension system are realized.

The invention discloses a superconducting magnetic levitation U-shaped track beam and a preparation method thereof, and belongs to the technical field of bridge engineering.The superconducting magnetic levitation U-shaped track beam is used for running of a magnetic levitation train with superconducting coils arranged on the two sides of a train body, and the track beam comprises a plurality of track beam sections which are sequentially spliced in the longitudinal direction; each track beam section comprises a main beam body and two side plates arranged on the two transverse sides of the main beam body respectively, the two side plates and the main beam body are integrally formed to form a U-shaped beam body structure, a maglev train can run in the U-shaped beam body, mounting grooves are formed in the inner side wall faces of the two side plates and used for mounting ground coils, and the invention further provides a preparation method of the superconducting maglev U-shaped track beam. The superconducting magnetic levitation U-shaped track beam is formed by splicing the multiple track beam sections, the main beam body and the two side plates in the track beam sections are integrally formed, the number of joints of the track beam is greatly reduced, the smooth performance of the track beam is guaranteed, and the overall stability of a magnetic levitation track system is improved.

The invention provides a wheel rail-permanent magnet electric fusion type maglev rail traffic system, which relates to the field of rail traffic and is characterized in that guide rails are arranged on sleepers, a frame moves along the guide rails, guide wheels are mounted at the bottom of the frame and are in contact with the guide rails, and the frame is guided to advance or retreat along a preset direction through the contact between the guide wheels and the guide rails. The stator is arranged on the side of the guide rail, and the rotor is arranged on the frame and parallel to the stator axis. When the stator is electrified, an alternating magnetic field can be generated, and the mover is subjected to the action of electromagnetic force under the action of the magnetic field, so that the frame is pushed to move along the guide rail, and the operation of the rail transit system is realized.

The invention discloses a method and a device for measuring the service life of magnetic poles in a normal-conducting high-speed magnetic levitation electromagnet, and relates to the field of magnetic levitation trains. And the service life evaluation coefficient is calculated by combining the initial magnetic pole parameters, so that the working condition of the suspension electromagnet can be evaluated more comprehensively and accurately, and the phenomenon of missed judgment caused by small damage area of an insulating layer is effectively avoided. The service life of the suspension electromagnet can be accurately evaluated, an operator can reasonably arrange maintenance and replacement plans of the suspension electromagnet by calculating the service life evaluation coefficient, maintenance or part replacement can be carried out at a proper time, excessive loss or sudden failure of the suspension electromagnet is avoided, the service life of the suspension electromagnet is prolonged, and the service life of the suspension electromagnet is prolonged. And the reliability and economical efficiency of the suspension electromagnet are improved.

The invention provides a truss type steel structure magnetic levitation track panel, a track and a manufacturing method. The track panel is of a steel bolting modular truss track structure and is provided with at least three sleepers which are transversely distributed at intervals in parallel at equal intervals; the bottoms of the two ends of the sleeper are longitudinally bolted with n-shaped rails respectively; induction plate iron cores and skid rails are longitudinally mounted at the tops of the two ends of the sleepers respectively; a plurality of supporting pieces are longitudinally and uniformly distributed between adjacent sleepers, and the top ends of the supporting pieces are bolted with induction plate iron cores and skid rails; the induction plate iron core is modularly and detachably provided with a driving surface induction plate, and the skid rail is modularly and detachably provided with a skid plate; two magnetic pole faces are integrated at the bottom of the n-shaped rail, and a detection face is arranged between the magnetic pole faces. The device is stable and reliable in structure, convenient to maintain, excellent in adaptability, 100% in-plant prefabrication rate, reduced in installation linear control difficulty, improved in construction efficiency, reduced in maintenance cost and replacement cost, and suitable for popularization.

The invention provides a maglev train bottom bolt looseness identification method based on deep learning. The method comprises the following steps: acquiring a bottom image of a maglev train by adopting imaging equipment, and carrying out bolt target detection on an image in a bottom image data set through an improved YOLOv8 network to obtain a bolt image; performing classification processing on the bolt image through a lightweight network RepViT fused with a lightweight ViT design principle; color space conversion, image binaryzation, morphological processing and connected domain screening processing are carried out on the bolt image to extract an anti-loosening line, and whether the vehicle bottom bolt in the bolt image is loosened or not is judged based on the bolt anti-loosening line according to loosening characteristics of different types of bolts under multiple visual angles. According to the method, the detection precision is improved by means of improving a target detection network structure, refining bolt loosening characteristics, providing adaptive detection methods for different types of bolts and the like; by designing a lightweight classification network mode, the calculation amount and time consumption are reduced, and the detection efficiency is improved.

The present application discloses a maglev air compressor, which includes a compressor housing, a motor stator, a rotor, a first impeller assembly and a second impeller assembly subjectable to an axial magnetic force and a control module. The compressor housing, the motor stator and the rotor are sleeved sequentially, both ends of the rotor are rotatably connected to an inside of the compressor housing through a maglev bearing group, the first impeller assembly and the second impeller assembly are fixedly oppositely installed on the both ends of the rotor. The maglev bearing group includes: a first thrust bearing piece generating a first axial magnetic force to the first impeller assembly, and, a second thrust bearing piece generating a second axial magnetic force to the second impeller assembly.

The invention provides a beam end large-displacement stretching and retracting and rail temperature adjusting integrated device of a maglev traffic bridge. The beam end large-displacement stretching and retracting and rail temperature adjusting integrated device comprises a first fixed F rail section, a second fixed F rail section, an F rail length adjusting section and a steel sleeper distance adjusting device. The second fixed F rail section and the F rail length adjusting section are sequentially connected to the second beam body, the first fixed F rail section is arranged on the first beam body and extends to the second beam body across the beam seam to be connected with the F rail length adjusting section, and the F rail length adjusting section can adjust the length. The steel sleeper distance adjusting device is arranged at a beam seam between the first beam body and the second beam body and located below the first fixed F rail section, the steel sleeper distance adjusting device comprises a plurality of sliding steel sleepers arranged at intervals in the longitudinal bridge direction, and the sliding steel sleepers are in sliding connection with the first fixed F rail section above the sliding steel sleepers. And the distance between the adjacent sliding steel sleepers can be adjusted along with the change of the beam seam. The problem of telescopic displacement of the F rail and the steel sleeper caused by large displacement of the beam body is solved, and the system is simpler and more stable.

The invention relates to the technical field of power utilization monitoring, and discloses a power utilization safety monitoring device based on a magnetic suspension power distribution technology, and the device comprises a current detection system which obtains the working state information of a current transformer and a Hall effect sensor through a data collection module; the data analysis module performs normalization processing on the frequency, the current, the direct current component, the environmental magnetic field intensity, the power supply voltage and the aging drift amount; the reliability analysis module calculates the reliability of the two types of sensors based on the normalized index; the weight endowing module dynamically distributes sensor weights in combination with the temperature influence factors; and the current summary calculation module outputs the final detection current through weighted fusion. The problem that a single sensor is easily influenced by frequency deviation, direct current component, temperature drift and magnetic field interference under complex working conditions is solved, high-precision and high-reliability self-adaptive current monitoring is realized, and the safety monitoring capability of a magnetic levitation power distribution system is remarkably improved.

The utility model relates to a direct-current excitation cable special for a high-speed maglev train. The direct-current excitation cable is characterized by being sequentially provided with a wire, a polyester wrapping tape, an insulating layer, a shielding braid layer and an outer sheath from inside to outside, compared with the conventional bunch stranding and total stranding process, the layered concentric stranding process adopted by the lead has the advantages that the pay-off tension of all conductors is uniform, conductor core breakage is avoided, the stable function of the cable is ensured from the performance, the braiding density of the shielding braided layer is not less than 95%, and a strong electromagnetic field can be effectively prevented from escaping to cause greater damage to passengers; the low-smoke halogen-free polyolefin irradiation elastomer material is selected as the outer sheath and the insulating material, and the material does not contain halogen, does not release toxic gas during combustion and has good mechanical property and flame retardant property, and the cable is simple in structural design, has the characteristics of large current, strong short-time overload capacity and the like, and is small in bending radius and high in reliability. The cable has the advantages of vibration resistance, oil resistance, environmental protection and good high-voltage direct-current stability.

The invention discloses a maglev engineering vehicle, which relates to the technical field of maglev vehicles, and comprises a first suspension frame unit, a second suspension frame unit and a third suspension frame unit, fixed sliding tables are arranged between the first suspension frame unit and the second suspension frame unit and between the first suspension frame unit and the third suspension frame unit, and the fixed sliding tables are fixed to a vehicle body; the transverse stabilizing mechanism comprises a first hydraulic cylinder and a second hydraulic cylinder, when the transverse stabilizing mechanism passes through a bent road section, the first hydraulic cylinder and the second hydraulic cylinder are disconnected to relieve transverse constraint, and the second suspension frame unit and the movable sliding table on the corresponding side of the second suspension frame unit as well as the third suspension frame unit and the movable sliding table on the corresponding side of the third suspension frame unit can rotate around the rotating center of the fixed sliding table on the corresponding side. When passing through a straight road section, the first hydraulic cylinder communicates with the second hydraulic cylinder to achieve transverse constraint, and the rigidity between the vehicle body and the suspension frame unit is guaranteed. According to the maglev engineering vehicle, the curve passing capacity and the curve passing balance stability of the maglev engineering vehicle can be improved.

A telescopic joint suitable for a novel magnetic levitation track comprises main crown rails, auxiliary crown rails and an equipartition connecting rod mechanism, the main crown rails are fixed below flange plates on the two sides of a T-shaped track beam joint, and the auxiliary crown rails are arranged between the main crown rails; a transverse slide way and two longitudinal slide ways are arranged in the middle of the top face of the auxiliary crown rail, and the two longitudinal slide ways are symmetrically distributed on the two sides of the transverse slide way. The equally-divided connecting rod mechanism is a four-connecting-rod mechanism and is arranged on the top of the auxiliary crown rail, hinge points of the four-connecting-rod mechanism are correspondingly connected with the sliding ways in a sliding mode, and the two ends of the four-connecting-rod mechanism are hinged to the top of the front main crown rail and the top of the rear main crown rail respectively. When the main crown rail stretches and retracts along with the T-shaped rail beam, the auxiliary crown rail is driven to move through the equipartition connecting rod mechanism, and gaps between the front end and the rear end of the auxiliary crown rail and the main crown rail are always kept equal. Interference with an electromagnetic module below the bogie of the maglev train can be avoided, and it can be guaranteed that front and rear telescopic gaps of the connector are equal.

The electromagnetic supporting system comprises an M-shaped rail, a suspension electromagnet and a traction motor stator, the M-shaped rail comprises a body and a traction motor secondary induction plate fixed to the middle of the lower surface of the body, and the upper surface of the body is fixedly connected with the lower surface of a T-shaped rail beam. The suspension electromagnet is located below the M-shaped rail and installed on the lower portion of a suspension frame supporting arm of the vehicle body, the suspension electromagnet comprises a U-shaped iron core and an electromagnet winding wound around the middle of the U-shaped iron core, the two ends of the U-shaped iron core upwards point to a body of the M-shaped rail, and a traction motor stator is fixed to the upper portion of the electromagnet winding and corresponds to a traction motor secondary induction plate in position. According to the invention, the suspension energy consumption of the medium-low-speed magnetic suspension vehicle in a vehicle rail-holding form is reduced, and the service life of the suspension electromagnet is prolonged.

The invention discloses a self-energized magneto-rheological vibration reduction system and method suitable for transverse and vertical coupling vibration of a high-speed normal-conducting maglev train, and relates to the field of magnetic suspension. The suspension surface current collection coil and the guide surface current collection coil are used for inducing magnetic field changes and generating induced electromotive force; the energy management system is used for rectifying, boosting and stabilizing the induced electromotive force and storing electric energy; the acceleration detection system is used for detecting transverse and vertical vibration accelerations of the vehicle body; the control system is used for outputting control current according to the vibration signal; and the transverse magneto-rheological damper and the vertical magneto-rheological damper are used for outputting variable damping force according to the control current and restraining transverse and vertical vibration of the vehicle body. According to the method, effective suppression and energy recovery of transverse and vertical vibration are realized without depending on current frequency division processing, so that the decoupling control problem caused by active control noise in a normal-conducting magnetic levitation system is solved.

The utility model discloses a precise rotor structure for a high-speed magnetic suspension motor. The precise rotor structure comprises a protection mechanism and a rotor shaft, the protection mechanism comprises a front protection barrel, a rear protection barrel, an air inlet hole and a spiral guide vane, key grooves are formed in the upper sides and the lower sides, deviating from the outer ends, of the inner arc faces of the front protection barrel and the rear protection barrel, the air inlet hole is formed in the left end of the outer arc face of the front protection barrel, and the spiral guide vane is arranged in the front protection barrel; the rear end of the spiral guide vane extends into the rear protection barrel; flat keys are arranged on the upper side and the lower side of the front end and the rear end of the outer cambered surface of the rotor shaft, and the flat keys and the longitudinally adjacent key grooves are installed in a matched mode. And irreversible damage to a rotor shaft caused by high-temperature welding due to direct contact between the rotor rotating at a high speed and the radial magnetic suspension bearing is avoided, and meanwhile, the uniformity of heat dissipation of the rotor is improved.

The invention discloses a magnetic levitation traffic positioning and speed measuring method and system based on a modularized tooth groove plate, and the method comprises the steps: detecting a signal of the modularized tooth groove plate through an eddy current sensor, the modularized tooth groove plate is formed by arranging metal sheets sealed by an insulating material according to a rule, the width of the metal sheets is fixed to be 1, and the position where the metal sheets are located is teeth; the groove width between the adjacent teeth is a specified multiple of l; calculating the running speed of the train according to the waveform time difference of the signals output by the at least two eddy current sensor coils at fixed intervals; carrying out absolute position coding through different tooth groove width ratios to obtain a train absolute position ID; matching line basic data information according to the train absolute position ID, wherein the line basic data information comprises turnout, ramp or curve information; and outputting the speed, the absolute position and the line basic data information to a train control system so as to adjust a train dynamic operation control strategy. According to the invention, the stability and comfort of train operation are effectively improved, and the cost and complexity of the system are reduced.

The invention belongs to the field of electromagnet suspension testing, and discloses a high-speed maglev traffic suspension electromagnet and guide rail interaction test bench which comprises a control detection system, a support, a long stator assembly and an electromagnet assembly. The long stator assembly comprises a long stator mounting rack and at least two sections of long stators arranged on the long stator mounting rack, at least one section of long stator is fixed on the long stator mounting rack in a position and posture adjustable manner, and the long stator assembly is used for simulating slab staggering, transverse movement, rail seam, deflection and angle folding of the long stators; the electromagnet assembly comprises a moving assembly and an electromagnet, and the electromagnet is arranged below the long stator; the control detection system comprises a controllable power supply system connected with the electromagnet and a detection system used for detecting the state of the electromagnet. According to the invention, an electromagnet and track dynamic test environment required by interaction between the electromagnet and tracks under various working conditions with different currents is realized, and the platform support can be used for researching suspension electromagnet-track dynamics.

The invention discloses an anomaly detection method, device and equipment for a maglev train suspension system and a medium, and relates to the technical field of maglev train detection. The method comprises the following steps: acquiring multi-source operation time sequence data of a maglev train suspension system in real time; carrying out automatic feature extraction on the suspension system through a first neural network model to obtain feature vectors used for representing dynamic response behaviors of the suspension system under different working conditions; inputting the feature vector into a trained second neural network model to obtain an anomaly detection score; the second neural network model is a time sequence neural network and is used for outputting a quantitative score value representing the state abnormity possibility of the suspension system according to the input vector; and when the anomaly detection score indicates that the suspension system is in an abnormal state, performing fault mode classification on the abnormal state according to a preset fault classification rule. According to the technical scheme of the invention, the method breaks through the limitation that a conventional method is insufficient in coupling feature extraction, and achieves the precise anomaly detection and fault classification of the suspension system.

The invention relates to the technical field of magnetic levitation track intelligent operation and maintenance, and particularly discloses a magnetic levitation maintenance base steel beam connecting bolt health monitoring system which specifically comprises a data acquisition module, a data processing module, a failure diagnosis module and a cloud service platform. The strain gauges are arranged on the bolt heads for monitoring, the bolts do not need to be disassembled or damaged, stress monitoring can be conducted on the bolts in the service state under the condition that the structural integrity is not affected, the risk and cost in the monitoring process are reduced, in addition, the vibration characteristics of the steel beam are monitored, and the monitoring accuracy is improved. According to the method, information about whether bolt connection is normal or not is indirectly acquired, finally, bolt looseness is monitored in real time by adopting an image recognition technology, and comprehensive structure health monitoring information can be provided by fusing and superposing three technologies of direct stress, indirect representation and image monitoring on operation condition data of the magnetic levitation vehicle. And the overall performance and safety of the connecting bolt can be comprehensively evaluated, and real-time early warning can be realized.

The low-speed maglev large-span bridge end super-large displacement track row expansion device is used to realize high-precision maglev track and foundation structure deformation coordination control, and well solves the expansion deformation of the bridge end super-large displacement caused by temperature difference. The track row structure unit is continuously arranged from the main span side pier to the boundary pier on the top surface of the bridge body, the longitudinal front end of the first track row structure unit is anchored and connected with the main span beam body through the anchoring device, and the last track row structure unit longitudinally spans the super-large beam joint. The main body of the track row structure unit includes the bearing rail beam segment and the frame type track row unit, the bearing rail beam segment is integrated with the main span beam body, the frame type track row unit is installed on the bearing rail beam segment through the elastic strip fastener, and the bearing rail beam segment and the frame type track row unit are provided with longitudinal expansion structure and vertical and horizontal limiting structure. A pair of F-shaped guide rails are fixedly installed on the top surface of the frame type track row unit in transverse direction, and the wing plate joint is arranged between the longitudinally adjacent F-shaped guide rails.

The invention relates to the technical field of maglev vehicle walking mechanisms, and provides a bilateral single-pull-rod traction suspension frame suitable for a single-section superconducting electric maglev vehicle, which improves the reliability of a suspension frame system, optimizes the spatial arrangement of suspension frame equipment, reduces the complexity of electrical pipelines, and facilitates the installation and maintenance of each equipment of the suspension frame. According to the technical scheme, the bilateral single-pull-rod traction suspension frame suitable for the single-section superconducting electric magnetic levitation vehicle comprises framework side beams, framework end beams, framework cross beams and traction pull rods, the two framework side beams are longitudinally arranged in parallel, and the ends of the two framework side beams are fixedly connected through the framework end beams to form a rectangular framework body; the two framework cross beams are arranged in the framework body in parallel, the ends of the framework cross beams are fixedly connected with the middles of the framework side beams, the centers of the top faces of the two framework end beams are each provided with a first installation base, one end of the traction pull rod is connected with the first installation bases, and the other end of the traction pull rod is connected with the traction device.

The invention discloses an electrified railway conductive busbar aluminum profile and a manufacturing method thereof. The aluminum profile is composed of, by mass, 0.5%-0.6% of Mg, 0.45%-0.55% of Si, 0.05%-0.15% of RE, smaller than or equal to 0.2% of Fe and the balance Al and inevitable impurities, and RE is mixed rare earth. The manufacturing method sequentially comprises the steps of smelting and preparing aluminum alloy liquid, blowing and refining, online grain refining, degassing in a degassing box, filtering in a filtering box, semi-continuous casting, high-temperature homogenizing treatment, extrusion forming, online quenching, stretching and straightening, saw cutting and aging heat treatment. By scientifically designing the composition of the aluminum profile and carrying out deep purification treatment on the aluminum alloy liquid, the problem of mutual restriction among strength, elasticity modulus and conductivity is solved, meanwhile, the strength, elasticity modulus and conductivity of the aluminum profile are improved, and the aluminum profile has excellent comprehensive performance and is suitable for popularization and application. And the requirements of rapid development of high-speed trains such as subways, high-speed rails and maglev trains are met.

The invention provides a construction method of a maglev traffic rail, which comprises the following steps: S1, modularly pouring and prefabricating a bridge deck in a factory, S2, mounting, adjusting and locking a maglev rail in the factory, S3, remeasuring the levelness and straightness of the maglev rail in a maglev rail assembly and the mounting precision of the maglev rail and an induction plate assembly to ensure that the maglev rail meets the dynamic matching requirement of a vehicle rail, and S4, mounting the bridge deck on a construction site. According to the construction method, modular pouring is mainly adopted to prefabricate the bridge deck slab, and the bridge deck slab is integrated with the shear nails, the iron cores and the pre-embedded sleeves; the method is simple in operation, high-precision, efficient and low-cost installation of the maglev traffic track is achieved, the construction efficiency is greatly improved, the cost of a medium-low-speed maglev track traffic system is reduced, and large-scale application and popularization are achieved.

The bogie comprises a bearing frame and a suspension device, the bearing frame is of a hollow structure so that an installation area can be formed on the inner side of the bearing frame, and a permanent magnet installation base and a linear motor installation base are arranged in the installation area; the permanent magnet mounting seats are arranged on the two sides of the top wall of the mounting area, and permanent magnets are arranged on the permanent magnet mounting seats so as to generate magnetic levitation force with magnets in the track beam; the linear motor mounting seat is arranged at the bottom of the permanent magnet mounting seat, the linear motor mounting seat and the permanent magnet mounting seat are arranged at an interval, a linear motor is fixedly arranged on the linear motor mounting seat, and the linear motor and the permanent magnet are symmetrically arranged about the symmetric line of the mounting area; and the suspension device is rotationally arranged at the bottom of the bearing frame. The mounting area is arranged in the bearing frame to mount the permanent magnet and the linear motor, so that the distance between the permanent magnet and the linear motor is reduced, the magnetic levitation force variation of the position of the permanent magnet during driving is reduced, the inclination angle of the bogie is reduced, and the running stability of a vehicle is improved.

The event triggering robust model prediction control method for the maglev train suspension system comprises the following steps: S1, considering the influence of track irregularity interference, and establishing a mathematical model of the maglev train suspension system interfered by the track irregularity; s2, according to the established mathematical model of the suspension system and the state of the balance point of the suspension system, obtaining a tracking error model of the suspension system; s3, establishing an equivalent linear model, and calculating an equivalent state constraint and a control input constraint; s4, designing an event triggering robust model predictive control strategy by considering the state constraint and the control input constraint; s5, verifying recursive feasibility and system stability of the event-triggered robust model predictive control strategy; according to the method, the influence of track irregularity on the suspension system of the electromagnetic suspension train is eliminated, the suspension precision of the suspension system is improved, and the problems of calculation pressure and communication resource shortage caused by high-frequency control in the suspension control process of the magnetic suspension train are relieved on the basis of ensuring the suspension stability of the magnetic suspension train.

The utility model discloses a suspension type maglev vehicle and a suspension framework thereof, and relates to the technical field of rail transit, the suspension framework of the suspension type maglev vehicle comprises a first longitudinal beam and a second longitudinal beam, the second longitudinal beam is located below the first longitudinal beam, and the two ends of the first longitudinal beam are connected with the two ends of the second longitudinal beam; the middle part of the first longitudinal beam is connected with the middle part of the second longitudinal beam, the first longitudinal beam and the second longitudinal beam are integrally shaped like a Chinese character'ri ', the first longitudinal beam and the second longitudinal beam are provided with mounting structures, and the mounting structures are used for connecting components of the electromagnetic suspension walking part. According to the suspension type maglev vehicle suspension framework, through the adoption of the suspension framework with the structural design shaped like the Chinese character'ri ', a plurality of components of an electromagnetic suspension walking part are effectively and reasonably integrated in a limited space, meanwhile, the bearing capacity and stability of the framework are guaranteed, and the problems that in the prior art, a framework structure is not compact enough, and the occupied space is large are solved; and the overall performance and the operation efficiency of the vehicle are improved.