阅读说明：本技术 中低速磁浮列车悬浮间隙的补偿方法及补偿系统 (The compensation method and compensation system of medium-and low-speed maglev train levitation gap ) 是由 陈启发 佟来生 姜宏伟 罗京 张文跃 朱琳 汤彪 周源 于 2019-10-10 设计创作，主要内容包括：本发明公开了一种中低速磁浮列车悬浮间隙的补偿方法及补偿系统,涉及磁浮列车悬浮控制技术领域。所述补偿方法,先在落浮状态下,根据实测空气间隙和悬浮间隙传感器测量的间隙数据来获取悬浮间隙传感器间隙偏差补偿值；然后在悬浮状态下,根据悬浮点的实测悬浮间隙和设定的额定悬浮间隙来获取悬浮间隙偏差补偿值；在列车运行时,根据偏差补偿值对实时间隙信号进行补偿运算,既消除了因机械误差、安装误差和测量误差导致的悬浮间隙传感器的间隙偏差,又消除了因结构误差导致的实测悬浮间隙与额定悬浮间隙之间的偏差,提高了参与悬浮控制计算的悬浮间隙值的精确度,避免了悬浮控制器误判断而导致的列车悬浮失稳和砸轨等风险。(The invention discloses the compensation methodes and compensation system of a kind of medium-and low-speed maglev train levitation gap, are related to magnetic floating train suspending control technology field.The compensation method obtains levitation gap sensor gap deviation offset according to the gap data of actual measurement the air gap and levitation gap sensor measurement first in the case where falling floating state；Then under suspended state, levitation gap bias compensation value is obtained according to the actual measurement levitation gap for the point that suspends and the specified levitation gap of setting；In train operation, operation is compensated to real-time gap signal according to bias compensation value, both the gap deviation of levitation gap sensor caused by having eliminated because of machine error, installation error and measurement error, the deviation between levitation gap and specified levitation gap is surveyed eliminate because of structural failure again caused by, the accuracy for improving the levitation gap value that control calculates of participating in suspending, avoids train suspension unstability caused by suspension controller erroneous judgement and pounds the risks such as rail.)

1. a kind of compensation method of medium-and low-speed maglev train levitation gap, which comprises the following steps:

Step 1: train is in and falls under floating state, and the actual measurement the air gap and levitation gap sensor for obtaining the point that suspends detect Gap data, according to it is described actual measurement the air gap and gap data be calculated levitation gap sensor gap deviation compensate Value；

Step 2: train is under steady stability suspended state, the actual measurement levitation gap for the point that suspends is obtained, according between specified suspension Levitation gap bias compensation value is calculated in gap and the actual measurement levitation gap；

Step 3: when train operation, being mended according to the levitation gap deviation of the gap deviation offset of the step 1 and the step 2 It repays value and operation is compensated to the real-time gap signal that levitation gap sensor detects, obtain for the outstanding of control operation that suspend Floating gap width.

2. compensation method as described in claim 1, which is characterized in that in the step 1, actual measurement the air gap is to fall floating state Under, the vertical distance of measurement between the inside and outside pole plate upper surface of electromagnet and F rail, the calculation expression of the gap deviation offset Formula are as follows:

S_{I is mended}=S_{S is fallen}-S_{I is fallen}

S_{S is fallen}=α_{It falls}S_{It falls outside}+β_{It falls}S_{Inside fall}

Wherein, S_{I is mended}For the gap deviation offset of levitation gap sensor the i-th tunnel gap detection probe, S_{I is fallen}To fall under floating state The gap data that i-th tunnel gap detection probe detects, S_{S is fallen}To fall under floating state between gap detection probe and F rail detection faces The vertical distance of reality, S_{It falls outside}For the vertical distance of measurement fallen between floating state lower electromagnet external polar plate upper surface and F rail, S_{Inside fall}For Fall the vertical distance of measurement between floating state lower electromagnet internal polar plate upper surface and F rail, α_{It falls}、β_{It falls}It is deviation factor, and α_{It falls}+β_{It falls} =1.

3. compensation method as claimed in claim 2, which is characterized in that the deviation factor α_{It falls}And β_{It falls}It is according to each suspension point S_{It falls outside}、S_{Inside fall}, levitation gap sensor gap detection probe face epoxy thickness and levitation gap sensor gap detection The vertical distances of probe upper surface and F rail detection faces determines, and α_{It falls}And β_{It falls}Value range be 0.4~0.6.

4. compensation method as described in claim 1, which is characterized in that in the step 2, actual measurement levitation gap is stable suspersion The vertical distance of measurement between the inside and outside pole plate upper surface of state lower electromagnet and F rail, the meter of the levitation gap bias compensation value Operator expression formula are as follows:

S_{It mends}=S_{S is floating}-S_Volume

S_{S is floating}=α_{It is floating}S_{It is outer floating}+β_{It is floating}S_{It is interior floating}

Wherein, S_{It mends}For levitation gap bias compensation value, S_VolumeFor specified levitation gap, S_{S is floating}It is visited for gap detection under stable suspersion state The vertical distance of reality between head and F rail detection faces, S_{It is outer floating}For stable suspersion state lower electromagnet external polar plate upper surface and F rail it Between the vertical distance of measurement, S_{It is interior floating}Measurement between stable suspersion state lower electromagnet internal polar plate upper surface and F rail it is vertical away from From α_{It is floating}、β_{It is floating}It is deviation factor, and α_{It is floating}+β_{It is floating}=1.

5. compensation method as claimed in claim 4, which is characterized in that the deviation factor α_{It is floating}And β_{It is floating}It is according to each suspension point S_{It is outer floating}、S_{It is interior floating}, levitation gap sensor gap detection probe face epoxy thickness and levitation gap sensor gap detection The vertical distances of probe upper surface and F rail detection faces determines, and α_{It is floating}And β_{It is floating}Value range be 0.4~0.6.

6. compensation method as described in claim 1, which is characterized in that the suspension in the step 3, for the control operation that suspends The calculation expression of gap width are as follows:

S_Control=S_Fortune+S_{It mends}

Wherein, S_ControlFor the levitation gap value for the control operation that suspends, S_{It mends}For levitation gap bias compensation value, S_FortuneIt is compensated Real-time gap signal S_{I is mended in fact}The gap width obtained through operation, S_{I is mended in fact}=S_{I is real}+S_{I is mended}, S_{I is real}For the inspection of levitation gap sensor the i-th tunnel gap The real-time gap signal that probing head detects, S_{I is mended}For the gap deviation compensation of levitation gap sensor the i-th tunnel gap detection probe Value.

7. compensation method as described in claim 1, which is characterized in that the levitation gap sensor includes at least three tunnel gaps Detection probe.

8. a kind of compensation system of medium-and low-speed maglev train levitation gap, it is characterised in that: for realizing all suspension points of full vehicle Backlash compensation, it is each suspend point gap deviation offset and levitation gap bias compensation value be stored in data storage cell In, each suspension point includes:

Gap acquisition module is surveyed, for the actual measurement the air gap of measurement suspension point and stable suspersion shape in the case where falling floating state The actual measurement levitation gap of measurement suspension point under state；

Levitation gap sensor, for acquiring the gap data between gap detection probe and F rail, Yi Ji in the case where falling floating state The real-time gap signal between gap detection probe and F rail is acquired when train operation；

Deviation compensation computing module is passed for levitation gap to be calculated according to the actual measurement the air gap and the gap data The gap deviation offset of sensor, and according to the actual measurement levitation gap and specified levitation gap levitation gap to be calculated inclined Poor offset；

Suspension controller, for according to the gap deviation offset, levitation gap bias compensation value to real-time gap signal into Row compensation operation obtains the levitation gap value for the control operation that suspends, and exports electric current according to the levitation gap value；

Levitating electromagnet module, the current value for being exported according to suspension controller exports corresponding electromagnetic force, to realize train Stable suspersion.

9. a kind of medium-and low-speed maglev train, which is characterized in that the compensation system including levitation gap described in claim 8.

Technical field

The invention belongs to magnetic floating train suspending control technology field more particularly to a kind of medium-and low-speed maglev train levitation gaps Compensation method and compensation system.

Background technique

Medium-and low-speed maglev train is a kind of Vehicular system that contactless suspension is realized by electromagnetic force, it relies on levitation gap The gap signal between levitating electromagnet and track that sensor provides is to suspension controller, and suspension controller is according to gap signal The electric current of levitating electromagnet is adjusted, to realize the adjustment and control in vehicle suspension gap.

Levitation gap sensor is mounted on the end of levitating electromagnet pole plate, due to by levitating electromagnet pole plate, mounting blocks And the influence of levitation gap sensor machine error and installation method, probe meeting in three tunnel gaps after levitation gap sensor installation There are deviations, and after vehicle floating, due to being influenced by site environment and vehicle factor, between actual levitation gap and specified suspension Gap can also have deviation, these deviations are likely to result in suspension controller erroneous judgement, to make vehicle suspension unstability, generation is fallen Point pounds the risks such as rail.

Summary of the invention

In view of the deficiencies of the prior art, the present invention provides the compensation method and benefit of a kind of medium-and low-speed maglev train levitation gap Repay system, in the case where falling floating state, compensated by the actual measurement the air gap for the point that suspends levitation gap sensor because of machine error and Deviation caused by mounting means, under suspended state, by suspend point actual measurement levitation gap come compensate practical levitation gap and Deviation between specified levitation gap avoids suspending to improve the accuracy of the levitation gap value for the control operation that participates in suspending The risks such as rail are fallen a little and pounded to train suspension unstability caused by controller erroneous judgement.

The present invention is to solve above-mentioned technical problem by the following technical solutions: a kind of medium-and low-speed maglev train suspends The compensation method in gap, comprising the following steps:

Step 1: train is in and falls under floating state, obtains actual measurement the air gap and the levitation gap sensor inspection of the point that suspends The gap deviation of levitation gap sensor is calculated according to the actual measurement the air gap and gap data for the gap data measured Offset；

Step 2: train is under steady stability suspended state, the actual measurement levitation gap for the point that suspends is obtained, according to specified outstanding Levitation gap bias compensation value is calculated in floating gap and the actual measurement levitation gap；

Step 3: when train operation, the levitation gap according to the gap deviation offset of the step 1 and the step 2 is inclined Poor offset compensates operation to the real-time gap signal that levitation gap sensor detects, obtains for the control operation that suspends Levitation gap value.

Levitation gap compensation method of the present invention, first in the case where falling floating state obtain suspend point actual measurement the air gap and The gap data of levitation gap sensor acquisition, obtains levitation gap sensor according to actual measurement the air gap and gap data Gap deviation offset；Then under suspended state, according to the specified levitation gap of the actual measurement levitation gap and setting of the point that suspends To obtain levitation gap bias compensation value；In train operation, according to gap deviation offset and levitation gap bias compensation value Operation is compensated between the real-time gap signal of levitation gap sensor acquisition and is obtained for the suspension for controlling operation that suspends Gap value finally carries out the control operation that suspends according to the levitation gap value, and the result for the control operation that suspends is to adjust suspension electromagnetism The electric current of iron realizes and controls the stable suspersion of train that this method was hanged caused by both having eliminated because of machine error and installation error The gap deviation of floating gap sensor, and surveyed between levitation gap and specified levitation gap caused by eliminating because of structural failure Deviation, improve participate in suspend control calculate levitation gap value accuracy, avoid suspension controller erroneous judgement and lead The train suspension unstability of cause and fall a little to pound the risks such as rail, ensure that train is safely and steadily run.

Further, in the step 1, actual measurement the air gap be fall under floating state, the inside and outside pole plate upper surface of electromagnet with The vertical distance of measurement between F rail, the calculation expression of the gap deviation offset are as follows:

S_{I is mended}=S_{S is fallen}-S_{I is fallen}

S_{S is fallen}=α_{It falls}S_{It falls outside}+β_{It falls}S_{Inside fall}

Wherein, S_{I is mended}For the gap deviation offset of levitation gap sensor the i-th tunnel gap detection probe, S_{I is fallen}To fall floating shape The gap data that Tai Xia the i-th tunnel gap detection probe detects, S_{S is fallen}To fall gap detection probe and F rail detection faces under floating state Between the vertical distance of reality, S_{It falls outside}For the vertical distance of measurement fallen between floating state lower electromagnet external polar plate upper surface and F rail, S_{Inside fall}For the vertical distance of measurement fallen between floating state lower electromagnet internal polar plate upper surface and F rail, α_{It falls}、β_{It falls}It is deviation factor, and α_{It falls}+β_{It falls}=1.

It, can not be by directly measuring levitation gap sensor gap since levitation gap sensor probe face has epoxy resin Vertical distance between detection probe and F rail detection faces determines actual gap.In design, the actual measurement that theoretically suspends a little The air gap is equal to the vertical distance of reality between gap detection probe and F rail detection faces, but due to the shadow by train composition It rings, the S of measurement_{It falls outside}、S_{Inside fall}The vertical distance of reality between gap detection probe and F rail detection faces there are deviation, therefore, it is necessary to By S_{It falls outside}、S_{Inside fall}It is converted into S_{S is fallen}, deposited with eliminating practical vertical distance caused by each suspension point machine error of train and structural failure Deviation.Meanwhile gap deviation offset can also eliminate the measurement error of levitation gap sensor.

Further, the deviation factor α_{It falls}And β_{It falls}It is the S according to each point that suspends_{It falls outside}、S_{Inside fall}, between levitation gap sensor Gap detection probe face epoxy thickness and levitation gap sensor gap detection probe upper surface and F rail detection faces hang down It is determined to distance, and α_{It falls}And β_{It falls}Value range be 0.4~0.6.

Further, in the step 2, actual measurement levitation gap is table on the inside and outside pole plate of stable suspersion state lower electromagnet The vertical distance of measurement between face and F rail, the calculation expression of the levitation gap bias compensation value are as follows:

S_{It mends}=S_{S is floating}-S_Volume

S_{S is floating}=α_{It is floating}S_{It is outer floating}+β_{It is floating}S_{It is interior floating}

Wherein, S_{It mends}For levitation gap bias compensation value, S_VolumeFor specified levitation gap, S_{S is floating}For gap under stable suspersion state The vertical distance of reality between detection probe and F rail detection faces, S_{It is outer floating}For stable suspersion state lower electromagnet external polar plate upper surface with The vertical distance of measurement between F rail, S_{It is interior floating}Measurement between stable suspersion state lower electromagnet internal polar plate upper surface and F rail is hung down To distance, α_{It is floating}、β_{It is floating}It is deviation factor, and α_{It is floating}+β_{It is floating}=1.

Levitation gap and specified suspension are surveyed caused by can eliminating by levitation gap bias compensation value because of structural failure Deviation between gap improves the stability of train.

Further, the deviation factor α_{It is floating}And β_{It is floating}It is the S according to each point that suspends_{It is outer floating}、S_{It is interior floating}, between levitation gap sensor Gap detection probe face epoxy thickness and levitation gap sensor gap detection probe upper surface and F rail detection faces hang down It is determined to distance, and α_{It is floating}And β_{It is floating}Value range be 0.4~0.6.

Further, in the step 3, the calculation expression of the levitation gap value for the control operation that suspends are as follows:

S_Control=S_Fortune+S_{It mends}

Wherein, S_ControlFor the levitation gap value for the control operation that suspends, S_{It mends}For levitation gap bias compensation value, S_FortuneFor compensation Real-time gap signal S afterwards_{I is mended in fact}The gap width obtained through operation, S_{I is mended in fact}=S_{I is real}+S_{I is mended}, S_{I is real}Between the i-th tunnel of levitation gap sensor The real-time gap signal that gap detection probe detects, S_{I is mended}For the gap deviation of levitation gap sensor the i-th tunnel gap detection probe Offset.

Further, the levitation gap sensor is popped one's head in including at least three tunnel gap detections.

Correspondingly, a kind of compensation system of medium-and low-speed maglev train levitation gap, for realizing all points that suspend of full vehicle Backlash compensation, the gap deviation offset and levitation gap bias compensation value of each point that suspends are stored in data storage cell In, each suspension point includes:

Gap acquisition module is surveyed, for the actual measurement the air gap of the measurement suspension point in the case where falling floating state, and is stablized outstanding The actual measurement levitation gap of measurement suspension point under floating state；

Levitation gap sensor, for acquiring the gap data between gap detection probe and F rail in the case where falling floating state, with And the real-time gap signal that gap detection is popped one's head between F rail is acquired in train operation；

Deviation compensation computing module, for being calculated between suspension according to the actual measurement the air gap and the gap data The gap deviation offset of gap sensor, and be calculated between suspension according to the actual measurement levitation gap and specified levitation gap Gap bias compensation value；

Suspension controller, for being believed according to the gap deviation offset, levitation gap bias compensation value real-time gap It number compensates operation and obtains the levitation gap value for the control operation that suspends, and electricity is exported according to the levitation gap value Stream；

Levitating electromagnet module, the current value for being exported according to suspension controller export corresponding electromagnetic force, to realize The stable suspersion of train.

Correspondingly, a kind of medium-and low-speed maglev train, the compensation system including the levitation gap.

Beneficial effect

Compared with prior art, the compensation method of a kind of medium-and low-speed maglev train levitation gap provided by the invention first exists It falls under floating state, levitation gap sensor is obtained according to the gap data of actual measurement the air gap and levitation gap sensor measurement Gap deviation offset；Then under suspended state, according to the specified levitation gap of the actual measurement levitation gap and setting of the point that suspends To obtain levitation gap bias compensation value；In train operation, according to gap deviation offset and levitation gap bias compensation value Operation is compensated to adjust the electric current of levitating electromagnet to the real-time gap signal of levitation gap sensor acquisition, is realized to column The stable suspersion of vehicle controls, and levitation gap caused by this method had both been eliminated because of machine error, installation error and measurement error passes The gap deviation of sensor, and the deviation between levitation gap and specified levitation gap is surveyed caused by eliminating because of structural failure, The accuracy for improving the levitation gap value for the control calculating that participates in suspending, avoids train caused by suspension controller erroneous judgement Suspension unstability and the risks such as rail are pounded, ensure that train is safely and steadily run.

A kind of compensation system of medium-and low-speed maglev train levitation gap provided by the invention, including multiple suspensions point, each The suspension point include actual measurement gap acquisition module, levitation gap sensor, deviation compensation computing module, suspension controller and Levitating electromagnet module, deviation compensation computing module is by the gap deviation offset being calculated, levitation gap bias compensation value In the data store, suspension controller is further according to gap deviation offset, levitation gap bias compensation value to real-time for storage Gap signal compensates operation to realize the suspension control to train；Gap deviation offset, levitation gap bias compensation value It is stored in data storage cell, the suspension control of the corresponding point that suspends can be automatically and manually downloaded to by vehicle-mounted control software In device internal storage, even if replacement suspension controller, the backlash compensation of the points that suspend all to full vehicle can also be fast implemented.

Detailed description of the invention

It, below will be to attached drawing needed in embodiment description in order to illustrate more clearly of technical solution of the present invention It is briefly described, it should be apparent that, the accompanying drawings in the following description is only one embodiment of the present of invention, general for this field For logical technical staff, without creative efforts, it is also possible to obtain other drawings based on these drawings.

Fig. 1 is the flow chart of compensation method in the embodiment of the present invention；

Fig. 2 is train clearance measurement schematic diagram in the embodiment of the present invention；

Fig. 3 is three road clearance measurement schematic diagram of train in the embodiment of the present invention；

Wherein, 1-F rail, 2- levitation gap sensor, 3- electromagnet pole plate, 4- mounting blocks (levitation gap sensor and electricity Transition block between magnet pole plate), (block and electromagnet pole plate is fixedly mounted) in the first fixing screws of 5-, on 6- electromagnet external polar plate Vertical distance S between surface and F rail_Outside, vertical distance S between the electromagnet internal polar plate upper surface 7- and F rail_{It is interior}, between 8- suspends The gap data S that gap sensor detects₁、S₂、S₃, 9- electromagnet, 10- first via gap detection probe, the second tunnel 11- gap Detection probe, 12- third road gap detection probe, the detection faces of 13-F rail, (fixed levitation gap passes the second fixing screws of 14- Sensor and mounting blocks).

Specific embodiment

With reference to the attached drawing in the embodiment of the present invention, the technical solution in the present invention is clearly and completely described, Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention Embodiment, those of ordinary skill in the art's every other embodiment obtained without creative labor, It shall fall within the protection scope of the present invention.

The compensation system of medium-and low-speed maglev train levitation gap is single-point control system, and entire train shares a data and deposits Storage unit, every section vehicle are made of 20 suspension points, each suspension point include 1 suspension controller, 1 levitation gap sensor, Half section of levitating electromagnet module, actual measurement gap acquisition module and deviation compensation computing module, every levitation gap sensor packet Three tunnel gap detections probe is included, the compensation method in each point gap that suspends is as follows:

1, train is moved into standard gauge, all clearance measurements need to carry out in standard track, and standard gauge machine error can neglect Slightly, the control of compensation post gap deviation is within the scope of ± 0.5mm.

2, in the case where falling floating state, the gap data S that three tunnel gap detection of levitation gap sensor probe detects is obtained_{1 falls}、 S_{2 fall}、S_{3 fall}。

As shown in Figures 2 and 3, levitation gap sensor is located at F rail in the following, three tunnel gap detections probe passes through eddy current effect Vertical distance S between measuring probe and F rail detection faces_{1 falls}、S_{2 fall}、S_{3 fall}.On three tunnel gap detection of levitation gap sensor probe Face is poured the epoxy resin of 2-3mm thickness, pops one's head in for portable protective gaps, which does not influence between levitation gap sensor Gap detection performance.

3, the actual measurement the air gap to suspend a little is fallen under floating state using actual measurement gap acquisition module measurement.

Surveying gap acquisition module is special measuring device or tool, such as without magnetic vernier caliper.Due to outstanding Floating gap sensor probe face has epoxy resin, can not by directly measure three tunnel gap detection of levitation gap sensor probe with Vertical distance between F rail detection faces determines the vertical distance of reality between probe and F rail detection faces, to determine the survey of probe Measure error.In design, the actual measurement the air gap to suspend a little, which refers to, falls the inside and outside pole plate upper surface of floating state lower electromagnet and F rail Between vertical distance, theoretically suspend point actual measurement the air gap be equal to gap detection pop one's head in F rail detection faces between Practical vertical distance, but the influence of the torsion due to mechanical structure error, mounting blocks out-of-flatness and fixing screws, cause to measure S_{It falls outside}、S_{Inside fall}The vertical distance of reality between gap detection probe and F rail detection faces is there are deviation, and therefore, it is necessary to by S_{It falls outside}、 S_{Inside fall}It is converted into S_{S is fallen}, to eliminate existing for practical vertical distance caused by each suspension point structure error of train and machine error partially Difference.S_{S is fallen}To fall the vertical distance of reality under floating state between gap detection probe and F rail detection faces, S_{It falls outside}It is electric under floating state to fall The vertical distance of measurement between magnet external polar plate upper surface and F rail, S_{Inside fall}To fall floating state lower electromagnet internal polar plate upper surface and F The vertical distance of measurement between rail.

4, the vertical distance S of reality fallen under floating state between gap detection probe and F rail detection faces is calculated_{S is fallen}:

S_{S is fallen}=α_{It falls}S_{It falls outside}+β_{It falls}S_{Inside fall} (1)

Wherein, α_{It falls}、β_{It falls}It is deviation factor, and α_{It falls}+β_{It falls}=1, since the machine error of each point that suspends is there are deviation, because This, deviation factor α_{It falls}And β_{It falls}Need the S according to each point that suspends_{It falls outside}、S_{Inside fall}, levitation gap sensor gap detection probe face epoxy The vertical distances of resin thickness and levitation gap sensor gap detection probe upper surface and F rail detection faces determines, and α_{It falls} And β_{It falls}Value range be 0.4~0.6.

5, three road gap deviation offsets are calculated:

S_{1 mends}=S_{S is fallen}-S_{1 falls} (2)

S_{2 mend}=S_{S is fallen}-S_{2 fall} (3)

S_{3 mend}=S_{S is fallen}-S_{3 fall} (4)

By three road gap deviation offset S_{1 mends}、S_{2 mend}、S_{3 mend}It stores in data storage cell, by formula (1) it is found that eliminating The deviation because of existing for vertical distance practical caused by machine error and structural failure, by formula (2)~(3) it is found that eliminating suspension The measurement error of gap sensor.

6, train floating and steady stability suspended state is kept.

7, using the actual measurement levitation gap to suspend a little under actual measurement gap acquisition module measurement stable suspersion state.

8, the vertical distance of reality under stable suspersion state between gap detection probe and F rail detection faces similarly, is calculated S_{S is fallen}:

S_{S is floating}=α_{It is floating}S_{It is outer floating}+β_{It is floating}S_{It is interior floating} (5)

Wherein, S_{S is floating}For the vertical distance of reality under stable suspersion state between gap detection probe and F rail detection faces, S_{It is outer floating} The vertical distance of measurement between stable suspersion state lower electromagnet external polar plate upper surface and F rail, S_{It is interior floating}For under stable suspersion state The vertical distance of measurement between electromagnet internal polar plate upper surface and F rail, α_{It is floating}、β_{It is floating}It is deviation factor, and α_{It is floating}+β_{It is floating}=1, due to every There are deviations for the machine error of a point that suspends, therefore, deviation factor α_{It falls}And β_{It falls}Need the S according to each point that suspends_{It is outer floating}、S_{It is interior floating}, it is outstanding Floating gap sensor gap detection probe face epoxy thickness and levitation gap sensor gap detection probe upper surface with The vertical distances of F rail detection faces determines, and α_{It is floating}And β_{It is floating}Value range be 0.4~0.6.

9, the levitation gap bias compensation value between actual measurement levitation gap and specified levitation gap is calculated:

S_{It mends}=S_{S is floating}-S_Volume (6)

Wherein, S_{It mends}For levitation gap bias compensation value, S_VolumeFor specified levitation gap.By levitation gap bias compensation value S_{It mends}It deposits It stores up in data storage cell, as formula (5) it is found that practical vertical distance caused by eliminating because of machine error and structural failure is deposited Deviation, by formula (6) it is found that eliminate actual measurement levitation gap and specified levitation gap between deviation.Specified levitation gap Refer to the target gap of the expected control of suspension control algolithm.

10, when train operates normally, levitation gap sensor detects real-time gap signal, and suspension controller is according to three Road gap deviation offset, levitation gap bias compensation value compensate operation to real-time gap signal and obtain for the control that suspends The levitation gap value of operation.

The real-time gap signal in tri- road Xian Dui compensates:

S_{1 real benefit}=S_{1 is real}+S_{1 mends} (7)

S_{2 real benefits}=S_{2 is real}+S_{2 mend} (8)

S_{3 real benefits}=S_{3 is real}+S_{3 mend} (9)

Wherein, S_{1 is real}、S_{2 is real}、S_{3 is real}The real-time gap signal that respectively three tunnel gap detections probe detects, S_{1 real benefit}、S_{2 real benefits}、 S_{3 real benefits}The respectively compensated real-time gap signal in three roads, gap signal S real-time to compensated three road_{1 real benefit}、S_{2 real benefits}、S_{3 real benefits}Into Row operation obtains suspend controlling the gap width S of operation_Fortune, then to gap width S_FortuneIt compensates and final participation suspension is calculated Control the levitation gap value S of operation_Control, S_Control=S_Fortune+S_{It mends}。

Suspension controller exports electric current according to levitation gap value, and levitating electromagnet obtains corresponding suspension according to the current value Power reaches specified levitation gap to control the stable suspersion of train, eliminates between practical levitation gap and specified levitation gap Deviation.

It is corresponding, a kind of compensation system of medium-and low-speed maglev train levitation gap, for realizing all points that suspend of full vehicle Backlash compensation, the gap deviation offset and levitation gap bias compensation value of each point that suspends are stored in data storage cell In, each suspension point includes:

Gap acquisition module is surveyed, for the actual measurement the air gap of the measurement suspension point in the case where falling floating state, and is stablized outstanding The actual measurement levitation gap of measurement suspension point under floating state；

Levitation gap sensor, for acquiring the gap data between gap detection probe and F rail in the case where falling floating state, with And the real-time gap signal that gap detection is popped one's head between F rail is acquired in train operation；

Deviation compensation computing module, for being calculated between suspension according to the actual measurement the air gap and the gap data The gap deviation offset of gap sensor, and be calculated between suspension according to the actual measurement levitation gap and specified levitation gap Gap bias compensation value；

Suspension controller, for being believed according to the gap deviation offset, levitation gap bias compensation value real-time gap It number compensates operation and obtains the levitation gap value for the control operation that suspends, and electricity is exported according to the levitation gap value Stream；

Levitating electromagnet module, the current value for being exported according to suspension controller export corresponding electromagnetic force, to realize The stable suspersion of train.

Above disclosed is only a specific embodiment of the invention, but scope of protection of the present invention is not limited thereto, Anyone skilled in the art in the technical scope disclosed by the present invention, can readily occur in variation or modification, It is covered by the protection scope of the present invention.