334 results about "Operating speed" patented technology

The shutdown of a compressor (10) installed in a refrigerant circuit (2) in air conditioning or refrigeration system is controlled so as to prevent unpowered reverse rotation of the compressor. Prior to terminating electric power to the compressor drive motor (24), the pressure within the system is relieved and substantially equalized across the compressor, thereby eliminating the possibility of unpowered reverse rotation of the compressor at shutdown. Pressure relief and equalization may be achieved by reducing the operating speed of the compressor to a low forward speed for a period of time prior to deenergizing the compressor drive motor. Pressure equalization may also be achieved by driving the compressor in reverse rotation prior to deenergizing the drive motor.

The invention provides a driving control method, device and equipment in severe weather and a storage medium, and the method comprises the steps: calling traction brake level critical point data and running speed critical point data of a target train based on the current severe weather type; and based on the traction braking level critical point data and the running speed critical point data, the traction braking level and the speed limit value of the target train are updated respectively. According to the running control method, device and equipment in the severe weather and the storage medium, the train can automatically adapt to the severe weather for targeted adjustment, so that the probability that the train idles and slips in the severe weather is reduced, dangerous point protection failure caused by unreasonable speed limit value setting is avoided, and the safety of the train is improved. And the operation efficiency of the line can be furthest improved.

The invention discloses a group train tracking operation optimization method considering communication delay. The method comprises the following steps: establishing a heavy haul railway train group of a'navigation-front train following 'topological structure; a multi-target optimization model is constructed according to the characteristic constraint, the speed limitation and the safety distance constraint of the vehicle; generating a random communication delay in the model, calculating a time step number corresponding to the delay, and making a control decision on the following train based on state information of a previous time step of the preceding train; and solving the running speed of the following train in the multi-objective optimization model based on a particle swarm algorithm. According to the group train tracking operation optimization method, the problems of uncertainty and dynamic response lag caused by communication delay in the tracking operation process of heavy haul railway group trains are effectively solved, the tracking error between the trains can be remarkably reduced, the speed synchronism is improved, and the tracking operation efficiency is improved. And the distance fluctuation in the acceleration and deceleration stages can be effectively reduced, so that the train distance stability is ensured.

The invention relates to a test device and method for testing the performance of an elevator speed governor, and the device comprises a test rack which is internally provided with a lifting channel for testing; the main rope is hung and wound on the traction machine; the undercarriage is arranged on one side of the traction machine and connected to the main rope, and the car frame is arranged below the undercarriage and connected with the undercarriage through a detacher; the counterweight frame is arranged on the other side of the traction machine and is connected to the main rope; the speed limiter is arranged at the top of the test rack; the rope gripper is arranged at the top of the test rack; and the data acquisition unit is used for acquiring the running speed of the lift car frame, the wheel speed of the speed limiter, the lifting force of the speed limiting rope, an electrical action signal and a mechanical action signal. The performance of the speed governor can be tested under the working conditions that the lift car frame freely falls when running at a rated speed and the lift car frame falls downwards at different accelerations in a static state.

The invention discloses an entrance ramp fleet confluence method based on reinforcement learning, and the method comprises the steps: carrying out the scene modeling according to an actual scene, and designing a plurality of fleet scales and vehicle speeds; vehicle acceleration and deceleration are designed as action selection, and the running speeds of main road vehicles and ramp vehicles are changed, so that the ramp vehicles select proper confluence opportunities; the change of the total travel time reflects the motorcade afflux efficiency, a reward function is established according to the change of the vehicle speed, the change of the time headway and the queuing waiting time of a ramp vehicle on an acceleration lane, an action mask is designed to improve the training efficiency, an intelligent agent is trained by using a PPO algorithm, and a trained deep reinforcement model is taken as a vehicle afflux model. The method gives consideration to the better passing efficiency of the main line and the shorter queuing waiting time of the vehicles on the ramp, enables the passing of the main line to be smoother, reduces the waiting time of the vehicles on the ramp as much as possible, and reduces the interference on the main line caused by the convergence of the vehicles on the ramp.

The invention relates to an oil-proof emulsification control method and system for an air compressor of an urban rail vehicle, and solves the problem of lubricating oil emulsification caused by insufficient working efficiency of the air compressor and environment humidity change by constructing a comprehensive control system comprising the compressor, an oil-proof emulsification device and a controller. The system monitors lubricating oil temperature and environment humidity in real time through a temperature sensor and a humidity sensor; the working rate of the air compressor is accurately calculated, wherein the vehicle operation time t2 takes the operation speed larger than 10 km / h as the calculation starting point; the controller comprehensively judges whether the oil-proof emulsification device is started or not based on temperature, humidity and working rate data, and the control strategy comprises the step of dynamically adjusting the working rate judgment node according to the real-time temperature and humidity. According to the method, accurate and reliable control over the oil-proof emulsification process is achieved, emulsification of the lubricating oil is effectively prevented, and energy consumption and maintenance cost can be reduced.

The invention relates to the technical field of rail traffic, in particular to a virtual coupling station track departure scene marshalling method, device and equipment and a medium. After each train in the virtual coupling group train crosses the transponder group, periodically sending a message packet 1 containing train distance information to the ground equipment; after the front train of the virtual coupling group train leaves the station, the front train receives a message packet 2 which is sent by the ground equipment and contains the converted distance information; wherein the converted distance information and the train distance information of the next train are based on the same reference object; and the front vehicle sends the converted distance information to the rear vehicle, and throat area grouping is completed. Through a train-ground-train communication mode, the ground equipment converts the position of the rear train into the position which can be identified by the front train and forwards the position to the front train, so that marshalling of the two trains is accelerated. Marshalling can be carried out in advance in the throat area, after marshalling succeeds, the rear vehicle can be controlled according to the driving permission of the following vehicle, and the running speed and the running efficiency are improved.

The invention belongs to the technical field of urban rail train operation protection, and discloses a remote obstacle detection method based on image and radar fusion. According to the invention, the scene and scheme of urban rail train obstacle detection are analyzed; determining the distance requirement of the urban rail train for detecting the obstacle and the obstacle size requirement matched with the distance; key data required by obstacle detection and constraint conditions of the urban rail train running speed are analyzed; determining the highest running speed of the train during obstacle detection by using data acquired by a laser radar, an IMU (Inertial Measurement Unit) and a camera and detection; according to the highest running speed, train braking response time and the longest braking distance are analyzed; due to the fact that a laser radar sensor has distance limitation, an image estimation target distance algorithm and an image and radar fusion algorithm are determined; according to a fusion algorithm, detection of obstacles which are 200 m away from the front of the train and are larger than 1.5 m in height is compensated, and the requirement for long-distance obstacle detection in a train operation scene is met.

The invention discloses a paver starting vibration system and a control method, and relates to the technical field of road construction machinery, the control method comprises the following steps: starting a starting stage automatic adjustment mode, setting initial operation parameters, and collecting an actual rotation speed in real time; based on the actual rotating speed, establishing a linear proportional control relation for the running speed, and dynamically adjusting the running speed; and the dynamic adjustment process is continuously carried out, and when specific conditions are met, the mode is automatically switched to the normal mode. The intelligent control that the paving speed is restrained by the vibrating rotating speed is achieved, and the technical problems that in the asphalt paving starting stage, due to the fact that the resistance of the vibrating beam is increased, the actual rotating speed is insufficient, and due to the fact that the vibrating rotating speed is not matched with the paving speed, the pavement compactness is poor, and the flatness is low are solved.

The invention discloses an electric hybrid traffic flow energy consumption carbon emission dynamic estimation method based on a space-time diagram network, and the method comprises the steps: building a directed graph structure of a selected road network, constructing a dynamic adjacency matrix based on real vehicle travel data, and obtaining the dynamic space correlation between road segment nodes under the directed graph structure; establishing an input-output sample set under a directed graph structure of a road network based on the collected real road, traffic flow, running speed, air temperature and relative humidity; and constructing a traffic flow-operation-energy consumption / carbon emission response relation model, training the model by using an input-output sample set, and realizing energy consumption and carbon emission dynamic estimation under different traffic flow inputs by using an optimal model obtained by training. According to the invention, a method for dynamically estimating the energy consumption and the carbon emission of the classified vehicles at different space-time positions under a standard road network diagram framework is created, and the method has better replicability for different regions.

The invention relates to the field of RGV shuttle vehicle control, in particular to a method for dynamically adjusting the speed of an RGV shuttle vehicle according to the load weight. The method comprises the steps that S1, the load weight of the RGV shuttle vehicle is obtained; and S2, on the basis of the load weight, the RGV shuttle vehicle is endowed with the maximum running speed. And S3, based on the maximum running speed, calculating a speed curve of the RGV shuttle vehicle by using a five-section S-shaped speed curve algorithm. The speed curve comprises an acceleration-acceleration stage, a deceleration-acceleration stage, a constant speed stage, an acceleration-deceleration stage and a deceleration-deceleration stage. And S4, the RGV shuttle vehicle is controlled to move through the speed curve. According to the method, the load weight is detected when the operation task is executed every time, the proper maximum running speed is matched for the RGV shuttle vehicle, then the speed curve of the RGV shuttle vehicle is calculated through the five-section S-shaped speed curve algorithm, and therefore the running stability of the RGV shuttle vehicle is improved on the premise that the running efficiency of the RGV shuttle vehicle is maximized.

The utility model provides a speed measuring device for elevator detection, which relates to the technical field of elevator detection and comprises a mounting plate, and the top of the mounting plate is provided with two insertion grooves. When the running speed of an elevator is detected through the speed measuring device, vibration can be generated during running of the elevator car and transmitted to the mounting plate, meanwhile, under the action of a limiting plate, the speed measuring device and the mounting plate can be driven to move up and down, and under the action of a compression spring and a second damper, the speed measuring device and the mounting plate are driven to move up and down. According to the elevator speed measuring device, vibration borne by the mounting plate and the speed measuring device can be partially absorbed or eliminated, and then the vibration borne by the mounting plate and the speed measuring device can be further absorbed or eliminated under the action of an arc-shaped plate, a sliding block, a buffer spring and a first damper, so that the accuracy of an elevator running speed detection result by the speed measuring device is improved; and an electronic component in the speed measuring device is protected, so that the electronic component is prevented from being damaged due to long-time vibration.

The invention discloses a vehicle sensor data multi-mode fusion time synchronization method, and the main design concept of the method is as follows: calculating the timestamp difference of data collected by different sensors according to preset sensor characteristic parameters; according to the vehicle running speed and the timestamp difference, the dislocation distance is calculated; determining a fault-tolerant interval according to the dislocation interval, and solving a non-fixed time stamp threshold according to the fault-tolerant interval and the maximum driving speed of the vehicle; and then continuously acquiring sensor data, performing multimode data fusion in combination with the solved timestamp threshold value and the sensor characteristic parameters, and performing alignment fusion on the acquired data meeting the timestamp threshold value limiting condition according to the sampling frequency of the sensor. According to the method, a fixed timestamp threshold value is not set only depending on experience any more, and the problems that the multimode fusion soft synchronization timestamp threshold value cannot be effectively set, multimode fusion sampling data are seriously staggered and the like can be effectively solved.

A door handle arrangement for a moveable component of a vehicle includes a control device for checking the permissibility of the operating speed of a handle body of the door handle arrangement to determine whether a permissible operating situation of the vehicle or a critical situation of the vehicle exists.

The invention discloses a train running speed control method and related equipment, and relates to the technical field of train control. Comprising the steps of receiving a temporary speed limit command; when the speed limit type of the temporary speed limit command comprises common temporary speed limit, generating a first maximum speed limit curve according to a line fixed speed limit, a train construction speed limit, a train mode speed limit and a strict temporary speed limit included in the temporary speed limit command; generating a second most limited speed curve according to the line fixed limited speed, the train construction limited speed, the train mode limited speed and the strict temporary limited speed and the common temporary limited speed included in the temporary speed limiting command; a first dynamic emergency braking curve is generated according to the first most limited speed curve, and a first dynamic service braking curve is generated according to the second most limited speed curve; the speed of the train is controlled according to the first dynamic emergency braking curve and the first dynamic service braking curve, and emergency braking of the train under the temporary speed limiting conditions such as wind, rain and snow can be avoided.

The invention provides an expressway lane level guiding method and device under an agglomerate fog condition, and the method comprises the steps: obtaining a visibility value and the driving information of a vehicle in real time for the vehicle which is about to drive into an agglomerate fog burst section and is passing through the agglomerate fog burst section; a vehicle operation safety speed estimation model under the low-visibility condition is adopted to estimate and obtain a vehicle suggested operation speed and a safety vehicle distance which guarantee vehicle operation safety; determining the running safety level of the vehicle by adopting a vehicle running safety judgment model under different visibility conditions; and executing a corresponding vehicle management and control strategy on the vehicle, and carrying out multi-mode cooperative lane-level driving safety active induction on the vehicle, so that the vehicle i safely and efficiently passes through the agglomerate fog burst section. Accurate intervention and active guidance of the road traffic flow operation state are achieved through the photoelectric technology, road section front early warning and lane-level active guidance under the agglomerate fog condition are achieved, and the road vehicle operation safety and the road passing efficiency are effectively improved.

The invention discloses a train positioning method based on vehicle-mounted IMU and track geometric feature data fusion, and belongs to the technical field of train positioning. The method comprises the following steps: preprocessing measurement data acquired by a single vehicle-mounted IMU, and dividing a line according to intervals to obtain vehicle-mounted IMU measurement data of each interval; vehicle-mounted IMU autonomous navigation calculation is carried out, and the initial running speed and the running mileage of the train in the interval are calculated through a vehicle-mounted IMU autonomous navigation calculation model; according to curvature information of track geometry, map matching is carried out based on autonomous navigation calculation information of a vehicle-mounted IMU (Inertial Measurement Unit); fusing the measurement information of the vehicle-mounted IMU with the geometric gradient and curvature information of the track; and calibrating the running speed of the train, and updating the position of the train. According to the method, output information of a single vehicle-mounted IMU is fused with geometric gradient and curvature information of a track, so that the running speed of the train is calibrated, and the train is further accurately positioned.

The present invention relates to the technical field of rail transit. Disclosed are a railway crossing control system, method and apparatus, and a storage medium. The system comprises: a speed measurement and distance measurement device, which is used for acquiring the real-time speed of a train and the real-time distance from the train to a crossing on the basis of the real-time signal strength and the real-time signal strength change rate of a detection signal; and a central device, which is used for determining a target crossing closure notification position by means of a pre-trained train operation state prediction model on the basis of the real-time speed of the train and the real-time distance from the train to the crossing, generating crossing closure information and sending the crossing closure information to a crossing device, and generating a train movement permission and sending the train movement permission to an onboard device. In the technical solution of the present embodiment, a crossing closure notification position is determined on the basis of the real-time speed of a train and the real-time distance from the train to a crossing, such that a crossing closure occasion can be automatically determined on the basis of the real-time running speed of the train, the distance from the crossing closure notification position to the crossing can be shortened, the crossing closure occasion is delayed, and the transportation efficiency on a railway side and a road side can be 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 discloses a highway network traffic flow carbon emission estimation method fusing multi-source data. The method comprises the following steps: S1, carrying out multi-source data fusion and target road section traffic flow database construction; s2, classifying vehicles on the target road section of the expressway; s3, investigating and surveying and calibrating vehicle energy consumption of different types and different fuels; s4, obtaining energy consumption correction coefficients at different operation speeds through testing; s5, energy consumption correction coefficients under different road conditions are obtained through test training, and energy consumption correction coefficients under different road conditions are obtained through LightGBM training; and S6, estimating the carbon emission of the target road section of the expressway in specific time. According to the method, the highway target road section traffic flow database is constructed, the information data of the vehicle type, the fuel type, the interval speed and the road attribute of the target road section are extracted, and the highway road section estimation model is constructed and trained; and the accuracy and the reliability of the carbon emission calculation of each road section of the expressway network reach the quick estimation of an ideal level.

The invention discloses an anti-skid control method, system, equipment, medium and product for a tracked vehicle, and relates to the field of anti-skid control, and the method comprises the steps: collecting the running speed of a track, the speed of the tracked vehicle, the rotation angular speed of a chain wheel, the output torque of the tracked vehicle and the disturbance quantity of the tracked vehicle in real time; according to the running speed of the crawler, the speed of the crawler and the rotation angular speed of the chain wheel, the real-time slip rate is determined; according to the output torque of the tracked vehicle, the running speed of the track and the rotation angular speed of the chain wheel, the optimal slip rate is determined; according to the real-time slip rate, the optimal slip rate and the disturbance quantity of the crawler, an active disturbance rejection control strategy is adopted, and a driving adjusting signal is obtained; according to the driving adjusting signal, the output torque of the crawler is adjusted, and the crawler is prevented from sliding. According to the invention, an active-disturbance-rejection control strategy is adopted, and the adaptability and stability of the crawler are improved based on a rapid and dynamic anti-skid control method.

The invention discloses a pallet fork lifting control method. The method comprises the following steps that 1, the load weight and lifting control parameters of a pallet fork are obtained; step 2, inputting a target height; 3, calculating a difference value between the actual height and the target height; 4, judging whether the difference value is smaller than a parking deviation allowable value or not, if yes, ending lifting control, and if not, executing the step 5; 5, judging whether the difference value is smaller than a low-speed deviation allowable value or not, and if yes, setting the low-speed positioning speed as the target speed and executing the step 7; if not, executing the step 6; 6, judging whether the difference value is smaller than the deceleration starting distance, and if yes, setting a target speed according to the height deviation; if not, setting the full-speed running speed as the target speed and executing the step 7; and 7, the pallet fork acts according to the target speed. According to the method, the actual speed, the arrival rate and the precision of fork stroke tail end positioning are obviously high, and the environmental adaptability is high.

The invention belongs to the technical field of vehicle emission control, and particularly relates to a highway low-carbon route design method and device based on ecological speed control and a medium. The method comprises the following steps: collecting plateau road vehicle operation and CO2 emission data through a real vehicle test; a road section CO2 accumulated emission prediction model based on a DistilBERT framework is constructed; identifying a speed square difference as a key influence factor by using Sobol sensitivity analysis; adopting Bayesian optimization to formulate ecological speed control strategies of different working conditions, and setting a speed square difference critical value; and finally, the strategy is applied to identify and optimize the high-emission linear unit in a route design stage, and the running speed coordination is improved. According to the method, the light-weight large model and ecological speed control are deeply fused for the first time, the problems of accurate prediction of vehicle carbon emission and active carbon control at the front end of route design in the plateau complex environment are solved, and the purpose of reducing the carbon emission in the operation period from the road alignment source is achieved.

The invention discloses a multi-sensor combined train detection method and system, a medium and a program product, and the method comprises the steps: collecting optical feature data and acoustic feature data; calculating the running speed of the train; determining corrected optical feature data and corrected acoustic feature data; optical feature sequences and acoustic feature sequences of the train head, the train middle and the train tail are determined; extracting vehicle head contour structure features, compartment connection structure features and vehicle tail contour structure features; extracting train starting acoustic features, a wheel and steel rail impact sound spectrogram and train braking acoustic features; determining an optical feature recognition result; determining an acoustic feature recognition result; and according to the weights corresponding to the optical feature recognition result and the acoustic feature recognition result, calculating to obtain a train type recognition result. According to the method and the device, the accuracy of train type identification in severe weather is improved, and the accuracy and the real-time performance of railway transportation scheduling are further improved.

The invention belongs to the technical field of vehicle motor control, and particularly provides a motor power management method based on EMB product performance improvement, and the method comprises the steps: dividing the bus voltage of a motor into a plurality of intervals, and dividing the operation speed of the motor into a plurality of operation intervals from a low speed to a high speed, the bus voltage and the running speed of the motor respectively correspond to different motor bus voltage calibration quantities and motor rotating speed calibration quantities; calculating an offset compensation value of the external characteristics of the motor through the motor bus voltage calibration quantity and the motor rotating speed calibration quantity at the corresponding moments; and performing offset compensation on the T-N external characteristics of the motor by using the calculated offset compensation value of the external characteristics of the motor. A motor rotating speed calibration look-up table is introduced to be combined with a motor bus voltage calibration look-up table, the offset offset value of the external characteristics of the motor is recalculated, a T-N curve of the external characteristics of the motor generates offset, the bus current of the motor is within an expected range, meanwhile, the external characteristics of the motor reach the maximum, and therefore the TTL time of an EMB product can be shortened.

The present invention belongs to the field of intelligent transportation, and specifically relates to a microscopic vehicle trajectory perception device based on multi-sensor machine vision fusion. The specific perception of the microscopic vehicle trajectory perception device includes the following steps: 1) extracting the three-dimensional spatial information of the vehicle target; 2) using machine vision methods to identify the vehicle target in the image; 3) using coordinate calibration fusion strategy to obtain the semantic information and spatial coordinate information of the vehicle target; 4) using the DeepSORT algorithm to track the identified vehicle target, and applying the trained convolutional neural network to identify the vehicle target; 5) sending the information of traffic participants on the entire intersection or road to the traffic management center or the surrounding intelligent networked vehicles through the network port. The technical solution of the present invention brings the following results: 1) improving detection accuracy and environmental adaptability; 2) reducing the number of calculations and improving the system operation speed; 3) improving the target tracking accuracy.

The application discloses a kind of determination methods, device and equipment of oil pump system, belong to vehicle technical field.Method includes: obtaining the acceptable noise value of each driving position in each vehicle speed and each frequency of first vehicle;Obtain the noise attenuation of each driving position in each frequency;Determine the required noise value of first vehicle to oil pump system in each vehicle speed;Obtain the noise value emitted by reference oil pump system in each speed and each frequency;Determine the required operating speed of first vehicle to oil pump system in each vehicle speed;Based on the minimum operating speed of first vehicle to oil pump system in each vehicle speed is not greater than the required operating speed of first vehicle to oil pump system in each vehicle speed, determine that reference oil pump system is the oil pump system of first vehicle.The method makes the determination mode of oil pump system diversification, higher flexibility, and the matching degree of first vehicle is higher, and the noise of oil pump system is smaller when running, improves the driving comfort.

This invention discloses a method for adjusting the operating speed of a sanitation vehicle based on garbage coverage rate, and a sanitation vehicle itself. The method includes the following steps: acquiring image data within a preset area in front of the vehicle; preprocessing the image data, including dynamic ROI delineation, image enhancement and denoising, and brightness normalization; using a deep learning model based on YOLOv5s to detect garbage in the preprocessed image and outputting target boxes for the coverage area; calculating a two-layer coverage rate based on the target detection results and the Otsu threshold segmentation method, combined with color features, and outputting the current garbage coverage rate; and adjusting the operating speed of the sanitation vehicle according to the garbage coverage rate based on preset rules. This invention can improve the accuracy of road garbage coverage rate identification and significantly optimize vehicle operating energy consumption and operating costs.

This invention discloses a multi-objective optimization method for modifying the rear gear system of an engine using an attention-integrated mechanism, relating to the fields of engine NVH control and transmission system design technology. The method first constructs a multibody dynamics model of the engine's rear gear system, including idle speed, rated power point, and common operating speed conditions. The common operating speed conditions are selected as the global optimization benchmark, and a genetic algorithm is used to obtain the initial modification parameter combination. Then, an attention-integrated mechanism is introduced, dynamically and iteratively adjusting the weight coefficients of each operating condition based on the positive or negative state of the error improvement value, and performing a secondary verification of the initial modification parameters. If the weighted total improvement value after iteration is less than zero, negative screening is performed to eliminate the affected components. Finally, the optimization effect is verified by establishing a "dynamic force-vibration-noise" simulation chain. This invention effectively resolves the physical conflict between idling knocking and high-speed whistling by constructing a nonlinear decision model of "dynamic weight allocation + negative screening of operating conditions," achieving robust improvement in the NVH performance of the engine gear system across the entire operating range.

The invention discloses a multi-motor synchronous control method, a multi-motor synchronous control device, multi-motor synchronous control equipment and a computer readable storage medium, and belongs to the field of motor control. And the speed consistency can be improved by uniformly driving each motor through the target driving current determined based on the closed-loop control algorithm, so that the current actual running speed and the current target running speed of the motor set for driving the track are determined in each preset period; according to the deviation value of the actual operation speed relative to the target operation speed, target driving current is determined through a closed-loop control algorithm; finally, all motors in the motor set are driven through the target driving current, the target driving current can be periodically updated, all the motors are uniformly driven, the running speed of all the motors is made to periodically approach the target running speed, and therefore the speed consistency of all the motors can be improved, and losses of the motors and rail components are reduced.