Suspension instability control method and device for magnetic-levitation train
阅读说明：本技术 一种磁浮列车的悬浮失稳控制方法及其装置 (Suspension instability control method and device for magnetic-levitation train ) 是由 郭小强 熊艳 李洁 叶鸿扉 刘顺进 于 2020-05-07 设计创作，主要内容包括：本发明提供了一种磁浮列车的悬浮失稳控制方法,所述磁浮列车包括用于支撑所述磁浮列车悬浮的多个悬浮点,所述悬浮失稳控制方法包括：基于每一悬浮点的悬浮参数判断每一悬浮点的失稳风险,所述悬浮参数至少包括悬浮点的悬浮降落状态；基于所有悬浮点的失稳风险判断所述磁浮列车的失稳风险；以及采取对应于所述磁浮列车的失稳风险的保护策略来防止所述磁浮列车与轨道发生硬接触。(The invention provides a suspension instability control method of a magnetic-levitation train, wherein the magnetic-levitation train comprises a plurality of suspension points for supporting the magnetic-levitation train to suspend, and the suspension instability control method comprises the following steps: judging the instability risk of each suspension point based on the suspension parameters of each suspension point, wherein the suspension parameters at least comprise the suspension landing state of the suspension point; judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points; and adopting a protection strategy corresponding to the instability risk of the maglev train to prevent the maglev train from making hard contact with the track.)
1. A levitation instability control method of a magnetic-levitation train including a plurality of levitation points for supporting the magnetic-levitation train to levitate, the levitation instability control method comprising:
judging the instability risk of each suspension point based on the suspension parameters of each suspension point, wherein the suspension parameters at least comprise the suspension landing state of the suspension point;
judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points; and
a protection strategy corresponding to the risk of instability of the maglev train is taken to prevent hard contact of the maglev train with the track.
2. The suspension instability control method of claim 1, wherein the instability risk of the suspension point includes a severe instability risk,
the step of judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points comprises the following steps:
in response to the position or the number of the suspension points with serious instability risk being enough to cause the single-side inclination or suspension force loss of the magnetic-levitation train, judging that the magnetic-levitation train has serious instability risk; and
the taking of a protection strategy corresponding to the risk of instability of the magnetic levitation train comprises:
in response to the severe instability risk of the maglev train, a warehousing overhaul protection strategy is adopted, wherein,
the warehousing overhaul protection strategy comprises the following steps:
releasing the support wheels of the magnetic-levitation train; and
and limiting the magnetic suspension train to run at a speed lower than the lowest running threshold value to enter the warehouse.
3. The suspension destabilization controlling method according to claim 2,
the step of judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points comprises the following steps:
in response to the suspension points with serious instability risk but insufficient positions or numbers of the suspension points cause the unilateral inclination or suspension force loss of the maglev train, judging that the maglev train has moderate instability risk; and
the taking of a protection strategy corresponding to the risk of instability of the magnetic levitation train comprises:
and responding to the medium instability risk of the magnetic-levitation train, adopting a speed-limiting operation protection strategy, wherein,
the speed-limiting operation protection strategy comprises the following steps:
and limiting the running speed of the magnetic-levitation train to be below a low-speed running threshold value, wherein the low-speed running threshold value is greater than the lowest running threshold value.
4. A levitation instability control method according to claim 2 or 3, wherein said protection strategy corresponding to the risk of instability of a magnetic levitation train further comprises:
generating a corresponding destabilization risk warning; and
and triggering traction blocking in response to the running speed of the magnetic-levitation train exceeding the corresponding speed limit threshold.
5. The levitation instability control method according to claim 2, wherein the instability risk of the levitation point includes a medium instability risk,
the step of judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points comprises the following steps:
responding to the suspension points with medium instability risks, wherein the number of the suspension points exceeds a preset number and the suspension points do not have serious instability risks, and judging that the maglev train has slight instability risks; and
the taking of a protection strategy corresponding to the risk of instability of the magnetic levitation train comprises:
responding to the slight instability risk of the maglev train, and adopting an early warning protection strategy, wherein the reminding protection strategy comprises the following steps:
a slight destabilization risk warning is generated.
6. The levitation instability control method according to claim 2, 3 or 5, wherein the determining the instability risk of each levitation point based on the levitation parameter of each levitation point comprises:
and responding to the situation that the suspension landing state of a suspension point is a landing state, and judging that the suspension point has serious instability risk.
7. The levitation instability control method according to claim 6, wherein the levitation parameters include levitation control parameters and levitation performance parameters of levitation points, and the determining the instability risk of each levitation point based on the levitation parameters of each levitation point further includes:
responding to the suspension landing state of a suspension point as a suspension state, and acquiring fault diagnosis data of the suspension control parameters and the suspension performance parameters; and
and determining the instability risk of the floating point based on the fault diagnosis data of the suspension control parameters and the suspension performance parameters of the floating point.
8. The levitation instability control method according to claim 7, wherein the determining the risk of instability of the levitation point based on the fault diagnosis data of the levitation control parameters and the levitation performance parameters of the levitation point comprises:
setting a weight coefficient of each suspension control parameter and each suspension performance parameter based on the importance degree of each suspension control parameter and each suspension performance parameter;
determining a corresponding fault coefficient based on the fault degree corresponding to the fault diagnosis data of each levitation control parameter and each levitation performance parameter;
taking the sum of the products of the weight coefficients and the fault coefficients of all the suspension control parameters and the suspension performance parameters as the instability coefficient of the suspension point; and
and determining the instability risk of the suspension point based on the instability coefficient of the suspension point.
9. The suspension instability control method of claim 8, wherein the determining the instability risk of the suspension point based on the instability coefficient of the suspension point comprises:
in response to the instability coefficient of the suspension point being greater than a severe instability threshold, determining that the suspension point is severely unstable; and
and in response to the instability coefficient of the floating point being less than the severe instability threshold but greater than a moderate instability threshold, determining that the floating point is at moderate instability.
10. A maglev train levitation instability control apparatus, the maglev train including a plurality of levitation points for supporting the maglev train in levitation, the levitation instability control apparatus comprising:
a memory; and
a processor coupled with the memory, the processor configured to:
judging the instability risk of each suspension point based on the suspension parameters of each suspension point, wherein the suspension parameters at least comprise the suspension landing state of the suspension point;
judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points; and
a protection strategy corresponding to the risk of instability of the maglev train is taken to prevent hard contact of the maglev train with the track.
11. The suspension destabilization control device of claim 10, wherein the processor is further configured to:
in response to the position or the number of the suspension points with serious instability risk being enough to cause the single-side inclination or suspension force loss of the magnetic-levitation train, judging that the magnetic-levitation train has serious instability risk; and
in response to the severe instability risk of the maglev train, a warehousing overhaul protection strategy is adopted, wherein,
the warehousing overhaul protection strategy comprises the following steps:
releasing the support wheels of the magnetic-levitation train; and
and limiting the magnetic suspension train to run at a speed lower than the lowest running threshold value to enter the warehouse.
12. The suspension destabilization control device of claim 11, wherein the processor is further configured to:
in response to the suspension points with serious instability risk but insufficient positions or numbers of the suspension points cause the unilateral inclination or suspension force loss of the maglev train, judging that the maglev train has moderate instability risk; and
and responding to the medium instability risk of the magnetic-levitation train, adopting a speed-limiting operation protection strategy, wherein,
the speed-limiting operation protection strategy comprises the following steps:
and limiting the running speed of the magnetic-levitation train to be below a low-speed running threshold value, wherein the low-speed running threshold value is greater than the lowest running threshold value.
13. The suspension destabilization control device according to claim 11 or 12, wherein the processor is further configured to:
generating a corresponding destabilization risk warning; and
and triggering traction blocking in response to the running speed of the magnetic-levitation train exceeding the corresponding speed limit threshold.
14. The levitation instability control apparatus of claim 11, wherein the risk of instability of the levitation point comprises a moderate risk of instability, the processor further configured to:
responding to the suspension points with medium instability risks, wherein the number of the suspension points exceeds a preset number and the suspension points do not have serious instability risks, and judging that the maglev train has slight instability risks; and
responding to the magnetic-levitation train to have slight instability risk, adopting an early warning protection strategy, wherein,
the reminding protection strategy comprises the following steps:
a slight destabilization risk warning is generated.
15. The suspension destabilization control device according to claim 11, 12 or 14, wherein the processor is further configured to:
and responding to the situation that the suspension landing state of a suspension point is a landing state, and judging that the suspension point has serious instability risk.
16. The levitation instability control device of claim 15, wherein the levitation parameters include a levitation control parameter and a levitation performance parameter of a levitation point, the processor further configured to:
responding to the suspension landing state of a suspension point as a suspension state, and acquiring fault diagnosis data of the suspension control parameters and the suspension performance parameters; and
and determining the instability risk of the floating point based on the fault diagnosis data of the suspension control parameters and the suspension performance parameters of the floating point.
17. The suspension destabilization control device according to claim 16, wherein the processor is further configured to:
setting a weight coefficient of each suspension control parameter and each suspension performance parameter based on the importance degree of each suspension control parameter and each suspension performance parameter;
determining a corresponding fault coefficient based on the fault degree corresponding to the fault diagnosis data of each levitation control parameter and each levitation performance parameter;
taking the sum of the products of the weight coefficients and the fault coefficients of all the suspension control parameters and the suspension performance parameters as the instability coefficient of the suspension point; and
and determining the instability risk of the suspension point based on the instability coefficient of the suspension point.
18. The suspension destabilization control device of claim 17, wherein the processor is further configured to:
in response to the instability coefficient of the suspension point being greater than a severe instability threshold, determining that the suspension point is severely unstable; and
and in response to the instability coefficient of the floating point being less than the severe instability threshold but greater than a moderate instability threshold, determining that the floating point is at moderate instability.
19. A computer storage medium having a computer program stored thereon, wherein the computer program when executed implements the steps of a suspension destabilization control method of a magnetic levitation train according to any of the claims 1-9.
Technical Field
The invention relates to the field of rail transit control, in particular to a suspension instability control method and device for a maglev train.
Background
The magnetic levitation vehicle is a modern high-tech rail vehicle, realizes non-contact levitation and guidance between vehicles and rails through electromagnetic force, and then utilizes the electromagnetic force generated by a linear motor to draw the vehicles to run. The magnetic suspension vehicle mainly comprises a suspension guide system, a traction power supply system and an operation control system. The high-speed magnetic suspension vehicle adopts an independent suspension system and a guide system, and the low-speed magnetic suspension adopts a suspension and guide integrated structure. The working principle of the normally-conductive suction type suspension system is as follows: the bottom of the magnetic suspension train is provided with an electromagnet (containing a coil winding), the magnetic pole of the electromagnet is positioned under the track of the line, the track is made of magnetic conductive material, and after the electromagnet is electrified, electromagnetic attraction is generated between the electromagnet and the track, so that the magnetic suspension train is suspended.
After the electromagnetic suspension system is used for replacing a wheel rail supporting system of a traditional train, the problems of wheel rail friction and adhesion do not exist, and the magnetic suspension system has the characteristics of low noise, stability, comfort, strong climbing capability, higher running speed and the like. Is always the hot point of domestic and foreign research. The magnetic levitation transportation technology is researched from the beginning of the eighties of the last century in China, and by 10 months of 2019, two autonomously developed medium-low speed magnetic levitation lines are put into commercial operation, namely a Changsha magnetic levitation line and a Beijing S1 magnetic levitation line.
The suspension system of the existing magnetic suspension vehicle adopts a working mode of a plurality of independent suspension points after mechanical decoupling, each carriage is provided with a plurality of suspension frames, each suspension frame is provided with a plurality of suspension points, and each suspension point is provided with an independent suspension controller. However, in actual operation, due to various reasons such as external interference and internal failure of the suspension controller, the phenomenon of rail hitting due to suspension falling sometimes occurs, resulting in poor riding experience in the vehicle.
The invention aims to provide a suspension instability control method and a suspension instability control device of a magnetic-levitation train, which aim to prevent the problem of rail smashing of suspension points.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
According to an aspect of the present invention, there is provided a levitation instability control method for a magnetic-levitation train, the magnetic-levitation train including a plurality of levitation points for supporting the magnetic-levitation train to levitate, the levitation instability control method including: judging the instability risk of each suspension point based on the suspension parameters of each suspension point, wherein the suspension parameters at least comprise the suspension landing state of the suspension point; judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points; and adopting a protection strategy corresponding to the instability risk of the maglev train to prevent the maglev train from making hard contact with the track.
Further, the instability risk of the suspension point includes a serious instability risk, and the determining the instability risk of the magnetic-levitation train based on the instability risks of all the suspension points includes: in response to the position or the number of the suspension points with serious instability risk being enough to cause the single-side inclination or suspension force loss of the magnetic-levitation train, judging that the magnetic-levitation train has serious instability risk; and said taking a protection strategy corresponding to a risk of instability of said magnetic levitation train comprises: in response to the severe instability risk of the maglev train, a warehousing overhaul protection strategy is adopted, wherein the warehousing overhaul protection strategy comprises the following steps: releasing the support wheels of the magnetic-levitation train; and limiting the magnetic suspension train to run at a speed lower than the lowest running threshold value to enter the warehouse.
Further, the determining the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points comprises: in response to the suspension points with serious instability risk but insufficient positions or numbers of the suspension points cause the unilateral inclination or suspension force loss of the maglev train, judging that the maglev train has moderate instability risk; and said taking a protection strategy corresponding to a risk of instability of said magnetic levitation train comprises: responding to the moderate instability risk of the magnetic-levitation train, and adopting a speed-limiting operation protection strategy, wherein the speed-limiting operation protection strategy comprises the following steps: and limiting the running speed of the magnetic-levitation train to be below a low-speed running threshold value, wherein the low-speed running threshold value is greater than the lowest running threshold value.
Still further, the protection strategy corresponding to the risk of instability of the magnetic-levitation train further comprises: generating a corresponding destabilization risk warning; and triggering the traction lockout in response to the running speed of the magnetic-levitation train exceeding the corresponding speed limit threshold.
Further, the instability risk of the suspension point includes a medium instability risk, and the determining the instability risk of the magnetic-levitation train based on the instability risks of all suspension points includes: responding to the suspension points with medium instability risks, wherein the number of the suspension points exceeds a preset number and the suspension points do not have serious instability risks, and judging that the maglev train has slight instability risks; and said taking a protection strategy corresponding to a risk of instability of said magnetic levitation train comprises: responding to the slight instability risk of the maglev train, and adopting an early warning protection strategy, wherein the reminding protection strategy comprises the following steps: a slight destabilization risk warning is generated.
Further, the determining the instability risk of each floating point based on the floating parameters of each floating point includes: and responding to the situation that the suspension landing state of a suspension point is a landing state, and judging that the suspension point has serious instability risk.
The suspension parameters include suspension control parameters and suspension performance parameters of the suspension points, and the determining the instability risk of each suspension point based on the suspension parameters of each suspension point further includes: responding to the suspension landing state of a suspension point as a suspension state, and acquiring fault diagnosis data of the suspension control parameters and the suspension performance parameters; and determining the instability risk of the floating point based on the fault diagnosis data of the suspension control parameters and the suspension performance parameters of the floating point.
Further, the determining the instability risk of the levitation point based on the fault diagnosis data of the levitation control parameters and the levitation performance parameters of the levitation point comprises: setting a weight coefficient of each suspension control parameter and each suspension performance parameter based on the importance degree of each suspension control parameter and each suspension performance parameter; determining a corresponding fault coefficient based on the fault degree corresponding to the fault diagnosis data of each levitation control parameter and each levitation performance parameter; taking the sum of the products of the weight coefficients and the fault coefficients of all the suspension control parameters and the suspension performance parameters as the instability coefficient of the suspension point; and determining the instability risk of the floating point based on the instability coefficient of the floating point.
Still further, the determining the instability risk of the floating point based on the instability coefficient of the floating point comprises: in response to the instability coefficient of the suspension point being greater than a severe instability threshold, determining that the suspension point is severely unstable; and in response to the instability coefficient of the floating point being less than the severe instability threshold but greater than the moderate instability threshold, determining that the floating point is at moderate instability.
According to another aspect of the present invention, there is also provided a levitation instability control apparatus of a magnetic levitation train, the magnetic levitation train including a plurality of levitation points for supporting the magnetic levitation train in levitation, the levitation instability control apparatus comprising: a memory; and a processor coupled with the memory, the processor configured to: judging the instability risk of each suspension point based on the suspension parameters of each suspension point, wherein the suspension parameters at least comprise the suspension landing state of the suspension point; judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points; and adopting a protection strategy corresponding to the instability risk of the maglev train to prevent the maglev train from making hard contact with the track.
Still further, the processor is further configured to: in response to the position or the number of the suspension points with serious instability risk being enough to cause the single-side inclination or suspension force loss of the magnetic-levitation train, judging that the magnetic-levitation train has serious instability risk; and responding to the severe instability risk of the maglev train, and adopting a warehousing overhaul protection strategy, wherein the warehousing overhaul protection strategy comprises the following steps: releasing the support wheels of the magnetic-levitation train; and limiting the magnetic suspension train to run at a speed lower than the lowest running threshold value to enter the warehouse.
Still further, the processor is further configured to: in response to the suspension points with serious instability risk but insufficient positions or numbers of the suspension points cause the unilateral inclination or suspension force loss of the maglev train, judging that the maglev train has moderate instability risk; and responding to the moderate instability risk of the magnetic-levitation train, and adopting a speed-limiting operation protection strategy, wherein the speed-limiting operation protection strategy comprises the following steps: and limiting the running speed of the magnetic-levitation train to be below a low-speed running threshold value, wherein the low-speed running threshold value is greater than the lowest running threshold value.
Still further, the processor is further configured to: generating a corresponding destabilization risk warning; and triggering the traction lockout in response to the running speed of the magnetic-levitation train exceeding the corresponding speed limit threshold.
Still further, the risk of instability of the floating point includes a moderate risk of instability, the processor being further configured to: responding to the suspension points with medium instability risks, wherein the number of the suspension points exceeds a preset number and the suspension points do not have serious instability risks, and judging that the maglev train has slight instability risks; and responding to the slight instability risk of the maglev train, and adopting an early warning protection strategy, wherein the reminding protection strategy comprises the following steps: a slight destabilization risk warning is generated.
Still further, the processor is further configured to: and responding to the situation that the suspension landing state of a suspension point is a landing state, and judging that the suspension point has serious instability risk.
Still further, the hover parameters include hover control parameters and hover performance parameters of a hover point, the processor further configured to: responding to the suspension landing state of a suspension point as a suspension state, and acquiring fault diagnosis data of the suspension control parameters and the suspension performance parameters; and determining the instability risk of the floating point based on the fault diagnosis data of the suspension control parameters and the suspension performance parameters of the floating point.
Still further, the processor is further configured to: setting a weight coefficient of each suspension control parameter and each suspension performance parameter based on the importance degree of each suspension control parameter and each suspension performance parameter; determining a corresponding fault coefficient based on the fault degree corresponding to the fault diagnosis data of each levitation control parameter and each levitation performance parameter; taking the sum of the products of the weight coefficients and the fault coefficients of all the suspension control parameters and the suspension performance parameters as the instability coefficient of the suspension point; and determining the instability risk of the floating point based on the instability coefficient of the floating point.
Still further, the processor is further configured to: in response to the instability coefficient of the suspension point being greater than a severe instability threshold, determining that the suspension point is severely unstable; and in response to the instability coefficient of the floating point being less than the severe instability threshold but greater than the moderate instability threshold, determining that the floating point is at moderate instability.
According to yet another aspect of the present invention, there is also provided a computer storage medium having a computer program stored thereon, which when executed, performs the steps of the method of controlling levitation instability of a magnetic levitation train as recited in any of the above.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings.
FIG. 1 is a schematic flow chart illustrating a suspension destabilization control method according to one embodiment of the present invention;
fig. 2 is a schematic diagram of a triple-consist train in one embodiment according to one aspect of the present invention;
FIG. 3 is a partial flow diagram illustrating a suspension destabilization control method according to one aspect of the present invention;
FIG. 4 is a partial flow diagram illustrating a suspension destabilization control method according to one aspect of the present invention;
FIG. 5 is a partial flow diagram of a suspension destabilization control method in an embodiment according to an aspect of the present invention;
fig. 6 is a schematic block diagram of a suspension instability control apparatus in an embodiment according to another aspect of the present invention.
Detailed Description
The following description is presented to enable any person skilled in the art to make and use the invention and is incorporated in the context of a particular application. Various modifications, as well as various uses in different applications will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to a wide range of embodiments. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In the following detailed description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the practice of the invention may not necessarily be limited to these specific details. In other instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present invention.
The reader's attention is directed to all papers and documents which are filed concurrently with this specification and which are open to public inspection with this specification, and the contents of all such papers and documents are incorporated herein by reference. All the features disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.
Note that where used, the designations left, right, front, back, top, bottom, positive, negative, clockwise, and counterclockwise are used for convenience only and do not imply any particular fixed orientation. In fact, they are used to reflect the relative position and/or orientation between the various parts of the object. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It is noted that, where used, further, preferably, still further and more preferably is a brief introduction to the exposition of the alternative embodiment on the basis of the preceding embodiment, the contents of the further, preferably, still further or more preferably back band being combined with the preceding embodiment as a complete constituent of the alternative embodiment. Several further, preferred, still further or more preferred arrangements of the belt after the same embodiment may be combined in any combination to form a further embodiment.
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
According to one aspect of the invention, a suspension instability control method for a magnetic-levitation train is provided. The magnetic-levitation train comprises a plurality of levitation points, and the levitation points support the magnetic-levitation train to be levitated to a specified height by generating electromagnetic force. The plurality of levitation points are generally uniformly dispersed over corresponding locations on the ground of the magnetic-levitation train. In general, a magnetic-levitation train may include a plurality of cars, each car including a plurality of suspensions, each suspension including a number of levitation points thereon. Taking the three-consist maglev train shown in fig. 2 as an example, it includes three cars T1-T3, each including 5 suspensions L1-L5, each suspension including 4 suspension points D1-D4, each suspension point may include a corresponding controller (not shown).
The suspension instability control method judges the integral instability risk of the magnetic-levitation train by judging the instability risk of each suspension point, and further generates corresponding protection actions to reduce the hard contact probability of the magnetic-levitation train and the track.
In one embodiment, as shown in FIG. 1, the suspension destabilization control method 100 includes steps S110-S30.
Wherein, step S110 is: and judging the instability risk of each suspension point based on the suspension parameters of each suspension point, wherein the suspension parameters at least comprise the suspension landing state of the suspension point.
The hover parameter refers to a direct parameter or an indirect parameter that may be used to indicate the hover condition of the hover point. The levitation and landing states are direct indicators of the levitation state of each levitation point, including the levitation state and the landing state. The falling state indicates that the suspension point is in a physical unstable state, and the suspension state indicates that the suspension point is in a physical suspension state.
It can be understood that when a levitation point is in a landing state, the levitation point must present a serious destabilization risk; when a levitation point is in a levitation state, although its physical state is not in a destabilization state, it does not represent that the levitation point is not at all at a serious destabilization risk.
Preferably, the suspension point corresponding to the suspension landing state is the suspension state, and the instability risk of the suspension point can be comprehensively judged by combining other suspension parameters. Other levitation parameters can be classified into levitation control parameters and levitation performance parameters based on their principles.
The levitation control parameters correspond to control quantities for the magnetic levitation train, such as supply current of the levitation point, normal force of the traction motor, and controller state of the levitation point, etc. The suspension performance parameters correspond to the suspension performance of the suspension point, such as the distance between the suspension point and the track, i.e. the suspension gap, the vertical moving speed of the suspension point, the vertical acceleration of the suspension point, and the like.
The existence, the size or the variation trend of the suspension control parameters can indicate the suspension control fault of the suspension point, and the size or the variation trend of the suspension performance parameters can indicate the physical performance fault of the suspension point.
The suspension system or other control systems in the existing magnetic-levitation train are generally provided with a self-diagnosis function. For example, a levitation system of a maglev train generally performs fault diagnosis on a control quantity and a levitation performance parameter, and a traction system generally performs fault diagnosis on a normal force of a traction motor. Meanwhile, the levitation system or the traction system usually generates fault diagnosis data based on the fault diagnosis result, and the fault diagnosis data indicates the fault degree of the corresponding parameter, such as dividing the fault degree into a serious fault, a medium fault, a slight fault, and the like. Therefore, the instability risk of each floating point can be comprehensively judged based on the fault degrees corresponding to all the floating parameters of the floating point.
Specifically, as shown in fig. 3, step S110 may include step S310: and responding to the situation that the suspension landing state of a suspension point is a landing state, and judging that the suspension point has serious instability risk.
More preferably, step S110 may further include steps S320-S330.
Step S320 is: and responding to the suspension landing state of a suspension point as a suspension state, and acquiring fault diagnosis data of the suspension control parameters and the suspension performance parameters.
The fault diagnosis data can be directly obtained from a levitation system or a traction system of the magnetic-levitation train, or each levitation parameter is detected by an additional fault diagnosis module to generate corresponding fault diagnosis data.
Step S330 is: and determining the instability risk of the floating point based on the fault diagnosis data of the suspension control parameters and the suspension performance parameters of the floating point.
In an embodiment, a weighting coefficient may be assigned to each levitation parameter of the levitation point, a comprehensive instability coefficient of the levitation point may be determined according to a failure degree of each levitation parameter, and a instability risk of the levitation point may be determined based on the instability coefficient.
More specifically, as shown in FIG. 4, step S330 may include steps S331-S334.
Wherein, step S331 is: and setting the weight coefficient of each suspension control parameter and each suspension performance parameter based on the importance degree of each suspension control parameter and each suspension performance parameter.
Suppose that n levitation control parameters are selected as the instability risk indicator of the levitation point. The same or different weighting systems are set based on the importance of different levitation control parameters. The weighting coefficients corresponding to the n levitation control parameters are k1～knAnd is andthe importance of the levitation control parameter can be determined based on the magnitude of its effect. For example, if the suspension controller fails or fails directly related to the suspension of the suspension point, the weighting factor of the suspension controller state may be set to be larger; the vertical acceleration of the floating point does not directly reflect the current situation of the floating point but corresponds to the variation trend of the floating point, and the weight coefficient of the vertical acceleration can be set to be smaller.
It is understood that the weighting coefficients corresponding to the n levitation control parameters may be the same or different, or may be partially the same.
The weighting factor for each levitation parameter can be preset and fixed, so that in a real-time control process, this step can be omitted.
Step S332 is: and determining a corresponding fault coefficient based on the fault degree corresponding to the fault diagnosis data of each levitation control parameter and each levitation performance parameter.
Existing maglev trains generally classify the fault level into a major fault, a medium fault, and a minor fault, and thus a different fault factor may be assigned to each level of fault based on the existing fault classification. For example, the failure coefficient of a serious failure is set to 60%, the failure coefficient of a medium failure is set to 30%, the failure coefficient of a slight failure is set to 10%, and the failure coefficient of the floating parameter of non-failure data is 0. The failure coefficient may be understood as the likelihood of failure or the likelihood of instability of the levitation point.
Preferably, the failure degree can be divided into more levels, and the failure coefficient corresponding to each level is different. The higher the failure level, the larger the corresponding failure coefficient. It can be understood that the more and the finer the fault degree is, the more accurate the instability risk of the floating point is judged.
The failure coefficients of the n selected levitation control parameters are e1～en。
Step S333 is: and taking the sum of the products of the weight coefficients and the fault coefficients of all the suspension control parameters and the suspension performance parameters as the instability coefficient of the suspension point.
The magnitude of the instability coefficient of a levitation point indicates the likelihood that the levitation point will come into contact with the track. The instability coefficient of each suspension point can be represented by:
wherein r isDIs the destabilization coefficient of the levitation point D, n is the number of selected levitation parameters, kiIs the weight coefficient of the ith suspension parameter, eiThe fault coefficient of the ith suspension parameter.
Step S334 is: and determining the instability risk of the suspension point based on the instability coefficient of the suspension point.
The size of the instability coefficient of each suspension point obviously can be used for judging the size of the possibility of the contact between the suspension point and the track, namely the size of the instability risk of the suspension point.
In particular, the risk of instability may be classified into different levels, such as severe risk of instability, moderate risk of instability, and risk of requesting instability. And different threshold values for the destabilization coefficients are set based on different levels of the destabilization risk. For example, in response to the instability coefficient of the levitation point being greater than the severe instability threshold, it is determined that the levitation point is severely unstable; and in response to the instability coefficient of the suspension point being less than the severe instability threshold but greater than a moderate instability threshold, determining that the suspension point is at moderate instability.
For example, in one embodiment, the severe destabilization threshold is set at 60% and the moderate destabilization threshold is set at 10%. When the instability coefficient of a suspension point is more than or equal to 60%, judging that the suspension point is seriously unstable; when the instability coefficient threshold value of a suspension point is less than 60% and more than or equal to 10%, judging the medium instability of the suspension point; and when the instability coefficient of a suspension point is less than 10%, judging that the suspension point is slightly unstable.
Further, step S120 is: and judging the instability risk of the magnetic-levitation train based on the instability risks of all the levitation points.
It can be understood that the maglev train is suspended to a specified height by the electromagnetic force generated by each suspension point and the normal force of the traction force, and therefore, the instability risk of the maglev train is related to the instability risk of each suspension point and the number and the position distribution of the instability suspension points. The suspension point at risk of severe instability is highly likely to be or has already become unstable, and thus the suspension point at risk of severe instability may cause an overall instability of the train. The instability risk of the maglev train can be judged specifically based on whether the number and the positions of the levitation points with serious instability risk possibly cause the unilateral inclination or the suspension force loss of the maglev train. In the above example setting of the instability risk level of the levitation point, the instability risk determination of the maglev train is described by taking the example that the instability level of the maglev train is also classified into a severe instability risk, a medium instability risk and a slight instability risk.
Corresponding to a serious instability risk of the maglev train, as shown in fig. 5, step S120 may include step S121: and responding to the position or the number of the suspension points with serious instability risk to cause the single-side inclination or suspension force loss of the magnetic-levitation train, and judging that the magnetic-levitation train has serious instability risk.
And when the specific judgment is carried out, the stress analysis is carried out on the magnetic-levitation train based on the positions and the number of the levitation points with serious instability risks. When the suspension force provided by all suspension points is smaller than the target value of the suspension force of the maglev train, the suspension force of the maglev train can be judged to be missing; when the difference value of the levitation forces of the two opposite sides of the maglev train is larger than a certain threshold value, judging that the single side of the maglev train inclines. The threshold values for the position and number of floating points at risk of severe instability may be set specifically based on empirical or experimental data.
Taking the three-marshalling maglev train shown in fig. 2 as an example, when each carriage of the three-marshalling maglev train has at least one suspension point with serious instability risk and the total number of the suspension points with serious instability risk of the whole train is greater than 4, or when the same carriage has 3 or more than 3 suspension points with serious instability risk, or the same suspension frame has 2 or more than 2 suspension points with serious instability risk, the suspension points with serious instability risk are considered to be enough to enable the single-side inclination or suspension force of the maglev train to be absent, so that the maglev train is judged to have serious instability risk.
Further, corresponding to a moderate destabilization risk of the magnetic-levitation train, as shown in fig. 5, the step S120 may include the step S122: a maglev train is judged to be at moderate risk of instability in response to levitation points at which there is a severe risk of instability but which are not located or in sufficient numbers to cause a unilateral tilt or lack of levitation force of the maglev train.
It will be appreciated that the relationship of levitation point to maglev train is equivalent to a local and global relationship, and therefore the risk of instability of the levitation point is not exactly equivalent to the risk of instability of the maglev train. When the suspension train does not have the risk of single-side inclination or suspension force loss, the suspension train can be considered to have no serious instability risk. But also has a suspension point with serious instability risk, so the maglev train can be considered to have medium instability risk.
Taking the three-marshalling maglev train shown in fig. 2 as an example, when the three-marshalling maglev train has 1-3 suspension points with serious instability risks, the same carriage has at most 2 suspension points with serious instability risks, and the same suspension frame has at most 1 suspension point with serious instability risks, the suspension points with serious instability risks are considered to be insufficient to enable the maglev train to incline at one side or lack suspension force, and the maglev train is judged to have medium instability risks.
Further, corresponding to the slight instability risk of the maglev train, as shown in fig. 5, the step S120 may further include the step S123: and responding to the suspension points with medium instability risks, wherein the number of the suspension points exceeds a preset number and the suspension points without serious instability risks, and judging that the maglev train has slight instability risks.
Taking the three-marshalling maglev train shown in fig. 2 as an example, when the preset number of the three-marshalling maglev train can be set to 6, that is, when the number of levitation points with medium instability risk of the three-marshalling maglev train exceeds 6, it is determined that the three-marshalling maglev train has a slight instability risk.
It is to be understood that although the above lists a plurality of destabilization levels of the levitation point and a plurality of destabilization levels of the maglev train, this is not limiting. One skilled in the art may set fewer or more levels of instability as desired, and may set different risk level designations and different level judgment criteria.
Step S130 is: a protection strategy corresponding to the risk of instability of the maglev train is taken to prevent hard contact of the maglev train with the track.
It can be understood that corresponding to different instability risks, reasonable protection strategies such as speed-limiting operation and traction blocking operation are set, the suspension drop point rail hitting probability can be reduced, strong collision between vehicle-mounted equipment and a rail is prevented, maintenance cost of a train and the rail is reduced, and riding comfort of passengers is improved.
It can be understood that when the maglev train has serious instability risk, the safety of the maglev train is low, so that the maglev train needs to be put in storage and overhauled as soon as possible. Then a warehousing overhaul strategy may be taken, as shown in fig. 5, corresponding to a severe destabilization risk.
The specific warehousing maintenance strategy can be correspondingly set according to the running environment and the actual running condition of the magnetic-levitation train. In general, the warehousing overhaul strategy may include at least: releasing the support wheels of the magnetic-levitation train to prevent the magnetic-levitation train from crashing the rail; and limiting the running speed of the magnetic-levitation train, such as running the magnetic-levitation train into a garage as fast as possible at a speed lower than the minimum running threshold.
Preferably, the warehousing overhaul strategy may further comprise: and triggering the traction blocking to block the traction of the magnetic-levitation train in response to the running speed of the magnetic-levitation train being greater than the lowest running threshold value. Or when the running speed of the magnetic suspension train is larger than the lowest running threshold value by a certain numerical value, such as 3km/h, the traction blocking is triggered.
Preferably, the minimum operating threshold may be set to 10 km/h.
Preferably, the warehousing overhaul strategy may further comprise: a severe destabilization risk warning is generated. In particular, a serious risk warning can be generated by means of an audible or visual reminder. For example, a text or an icon corresponding to the serious risk warning is displayed on a display interface of the cab of the magnetic-levitation train, or the serious risk warning is played in a voice mode in the cab of the magnetic-levitation train.
Further, when the maglev train has a moderate risk of instability, as shown in fig. 5, a speed-limiting operation protection strategy can be adopted. I.e. to set the maximum running speed of the maglev train at a moderate risk of instability. I.e. to limit the running speed of the magnetic-levitation train below the low-speed running threshold. It will be appreciated that the low speed operation threshold is greater than the lowest operation threshold at risk of severe instability, and may be set, for example, to 50 km/h.
The specific low-speed running threshold value can be correspondingly set according to the running environment and the actual running condition of the magnetic-levitation train.
Preferably, the protection strategy for speed-limited operation may further include: and triggering the traction blocking to block the traction force of the magnetic-levitation train in response to the running speed of the magnetic-levitation train being greater than the low-speed running threshold value. Or when the running speed of the magnetic-levitation train is greater than a certain proportion of the low-speed running threshold value, such as 10%, the traction blocking is triggered.
Preferably, the protection strategy for speed-limited operation may further include: a moderate destabilization risk warning is generated. In particular, the intermediate risk warning may be generated by means of an audible or visual reminder. For example, the text or icon corresponding to the medium risk warning is displayed on the display interface of the cab of the magnetic levitation train, or the medium risk warning is played in the cab of the magnetic levitation train in a voice manner.
Further, when the maglev train has slight instability risk, as shown in fig. 5, an early warning protection strategy can be adopted. Specifically, the early warning includes policies that include: a slight destabilization risk warning is generated. For example, a text or icon corresponding to the light risk warning is displayed on the display interface of the cab of the magnetic levitation train.
It is understood that the protection strategy is set based on the classification of the instability risk level of the maglev train, and is not limited thereto. Those skilled in the art can set them individually based on actual needs.
Preferably, the implementation of the protection strategy can be realized based on the TCMS network control system of the maglev train in combination with a traction brake system.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
According to another aspect of the invention, a suspension instability control device of a magnetic-levitation train is also provided.
In one embodiment, as shown in fig. 6, the maglev instability control apparatus 600 of a magnetic levitation train includes a memory 610 and a processor 620.
A processor 620 is coupled to the memory 610 for executing the computer program stored in the memory 610, wherein the processor 620 is configured to implement the steps of the levitation instability control method for a magnetic levitation train as described in any of the above embodiments.
According to another aspect of the present invention, there is also provided a computer storage medium having a computer program stored thereon, the computer program when executed implementing the steps of the method for controlling levitation instability of a magnetic levitation train as described in any of the previous embodiments.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. It is to be understood that the scope of the invention is to be defined by the appended claims and not by the specific constructions and components of the embodiments illustrated above. Those skilled in the art can make various changes and modifications to the embodiments within the spirit and scope of the present invention, and these changes and modifications also fall within the scope of the present invention.