CN113212499A - Real-time speed measurement method and system at track seam crossing moment by utilizing gap sensor - Google Patents

Abstract

The application discloses a real-time speed measuring method and a system at the track joint crossing moment by utilizing a gap sensor, the method realizes the speed measurement of a magnetic suspension train based on a plurality of gap sensors arranged on the magnetic suspension train, particularly, the sensing surface of the gap sensor faces to the track, so that the sensing data of the gap sensor reflects the time of the gap sensor passing through the joint on the track, after the sensing data of the gap sensor is obtained, the moment of the gap sensor passing through the joint is determined as the joint moment according to the sensing data of each gap sensor, then the current speed of the magnetic suspension train is determined as the joint moment according to the moment of the gap sensor passing through the same joint, the speed measurement of the magnetic suspension train is realized, the real-time speed measuring method at the track joint crossing moment by utilizing the gap sensor does not need to reform the track of the magnetic suspension train, has the characteristic of low cost.

Description

Real-time speed measurement method and system at track seam crossing moment by utilizing gap sensor

Technical Field

The application relates to the technical field of sensing, in particular to a real-time speed measuring method and system at the moment of crossing a track joint by utilizing a gap sensor.

Background

The magnetic suspension train, also called maglev train, is a train driven by magnetic suspension force, it uses electromagnetic force to realize non-contact suspension and guidance between train and track, and utilizes the electromagnetic force produced by linear motor to draw train to run.

In the running process of the magnetic suspension train, the speed signal is an important signal, reflects the running speed of the train and has great value for optimizing the magnetic suspension control.

In the prior art, the speed measurement of the magnetic suspension train generally needs to modify the running track of the train, and the cost is higher.

Disclosure of Invention

In order to solve the technical problem, the application provides a real-time speed measurement method and a real-time speed measurement system for a gap sensor at the moment of crossing a track joint so as to achieve the purpose of reducing the cost of measuring the speed of a magnetic suspension train.

In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:

a real-time speed measurement method at the track joint crossing moment by utilizing a gap sensor is applied to a magnetic suspension train, the magnetic suspension train is provided with a sensor group, the sensor group comprises a plurality of gap sensors which are arranged at intervals, the sensing surfaces of the gap sensors face to a track, the track comprises at least one joint, and the real-time speed measurement method at the track joint crossing moment by utilizing the gap sensors comprises the following steps:

acquiring sensing data of the gap sensor;

determining the moment when each gap sensor passes through the joint as the joint moment according to the sensing data of each gap sensor;

calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the two adjacent gap sensors;

determining a current speed of the magnetic levitation vehicle.

Optionally, the determining, according to the sensing data of each gap sensor, a time when each gap sensor passes through the joint as a joint time includes:

sequencing the sensing data of the gap sensors according to the time of passing through the seam;

determining a seam time period corresponding to each seam according to the sorted sensing data of each gap sensor, wherein the seam time period is a time period when each gap sensor passes through the seam;

and determining the time when each seam passes according to the determined seam time period corresponding to each seam.

Optionally, the determining, according to the determined seam time period corresponding to each seam, a time when each seam passes includes:

and taking the same position of each seaming time period as the seaming time corresponding to the seaming time period.

Optionally, after calculating the measurement speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the adjacent gap sensors, the method further includes:

and performing low-pass filtering on the measurement speed obtained by calculation to filter out the measurement speed lower than a preset speed threshold value.

Optionally, the method further includes:

acquiring a reference speed;

and correcting the determined current speed of the magnetic suspension train according to the reference speed to obtain corrected speed data.

A real-time velocity measurement system using gap sensors at the time of crossing a rail joint, comprising:

a sensor group, wherein the sensor group comprises a plurality of gap sensors which are arranged on a magnetic suspension train at intervals, the sensing surfaces of the gap sensors face to a track, and the track comprises at least one joint;

a processor, the processor comprising:

the data acquisition module is used for acquiring sensing data of the gap sensor;

the time determining module is used for determining the time when each gap sensor passes through the joint as the joint time according to the sensing data of each gap sensor;

the speed calculation module is used for calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the two adjacent gap sensors;

and the speed determining module is used for determining the current speed of the magnetic suspension train.

Optionally, the sensor group includes three gap sensors arranged at equal intervals on the magnetic levitation vehicle.

Optionally, the time determining module includes:

the data sorting unit is used for sorting the sensing data of the gap sensors according to the time of passing through the seam;

the time period determining unit is used for determining a joint time period corresponding to each joint according to the sorted sensing data of each gap sensor, wherein the joint time period is a time period when each gap sensor passes through the joint;

and the time determining unit is used for determining the time of passing each joint according to the determined joint time period corresponding to each joint.

Optionally, the processor further includes:

and the low-pass filtering module is used for performing low-pass filtering on the measured speed obtained by calculation so as to filter out the measured speed lower than a preset speed threshold value.

Optionally, the processor further includes:

the reference speed module is used for acquiring a reference speed;

and the speed correction module is used for correcting the determined current speed of the magnetic suspension train according to the reference speed so as to obtain corrected speed data.

It can be seen from the above technical solutions that the present application provides a method and a system for measuring speed in real time at a track-crossing time by using gap sensors, wherein the method for measuring speed in real time at the track-crossing time by using gap sensors is based on a plurality of gap sensors disposed on a magnetic levitation train, specifically, a sensing surface of a gap sensor faces a track, so that sensing data of the gap sensor reflects a time when the gap sensor passes through a seam on the track, after the sensing data of the gap sensor is obtained, a time when each gap sensor passes through the seam is determined as a seam time according to the sensing data of each gap sensor, then a time when each gap sensor passes through the same seam is determined as a seam time according to the time when each gap sensor passes through the same seam, and finally a current speed of the magnetic levitation train is determined, the method for measuring the speed of the magnetic suspension train in real time at the moment of crossing the seam of the track by utilizing the gap sensor does not need to transform the track of the magnetic suspension train, and has the characteristic of low cost.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic diagram of an arrangement of sensor groups according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a real-time speed measurement method using a gap sensor at a time of crossing a track seam according to an embodiment of the present application;

fig. 3 is a schematic flowchart of a real-time speed measurement method using a gap sensor at a time of crossing a track seam according to another embodiment of the present application;

fig. 4 and 5 are respectively a result of sorting sensing data obtained by three gap sensors arranged at equal intervals under two different conditions;

6-8 are schematic diagrams of the process of determining the seam timing by taking the start position as an example;

fig. 9 is a schematic flowchart of a real-time speed measurement method using a gap sensor at the time of crossing a track seam according to another embodiment of the present application;

FIG. 10 is a velocity profile of measured velocities before low pass filtering;

FIG. 11 is a velocity profile of measured velocities after low pass filtering;

fig. 12 is a schematic flowchart of a real-time speed measurement method using a gap sensor at the time of crossing a track seam according to still another embodiment of the present application;

FIG. 13 is a graphical illustration of a raw speed profile before being modified;

FIG. 14 is a graph illustrating a corrected speed curve after correction.

Detailed Description

As described in the background art, the existing real-time speed measurement method for a maglev train by using a gap sensor at the time of crossing a track joint needs to modify the track, specifically, a metal rack bar is laid on the track where the train runs, and more than two metal bar positioning sensors are mounted on a train body of the maglev train to complete speed measurement.

The specific test principle comprises: when the train runs, the speed measuring and positioning sensor is matched with the metal tooth groove strip to generate a detection signal when the speed measuring and positioning sensor is close to the metal tooth groove strip, and the speed, the relative position and the direction of the train body are judged according to the detection signal. The system comprises a metal tooth groove strip fixed on a track, more than two speed measuring and positioning sensors and a signal processing unit, wherein the speed measuring and positioning sensors and the signal processing unit are arranged on a vehicle body, the speed measuring and positioning sensors are matched to generate periodic sinusoidal signals and periodic on-off signals when approaching to the metal tooth groove strip and output the periodic sinusoidal signals and the periodic on-off signals to the signal processing unit, and the signal processing unit judges the speed and the position of the vehicle body according to the received sinusoidal signals and the on-off signals.

The method not only needs to purchase a single metal strip positioning sensor, but also needs to reconstruct the track, and the purchase cost and the reconstruction cost are higher.

In order to solve the problem, an embodiment of the present invention provides a method and a system for measuring speed of a magnetic levitation train in real time at a track-crossing time by using a gap sensor, wherein the method for measuring speed of a magnetic levitation train in real time at a track-crossing time by using a gap sensor is implemented based on a plurality of gap sensors disposed on a magnetic levitation train, specifically, a sensing surface of each gap sensor faces a track, so that sensing data of the gap sensor reflects a time when the gap sensor passes through a seam on the track, after the sensing data of the gap sensor is obtained, a time when each gap sensor passes through the seam is determined as a seam time according to the sensing data of each gap sensor, then a time when each gap sensor passes through the same seam is determined as a seam time, and finally a current speed of the magnetic levitation train is determined, the method for measuring the speed of the magnetic suspension train in real time at the moment of crossing the seam of the track by utilizing the gap sensor does not need to transform the track of the magnetic suspension train, and has the characteristic of low cost.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a real-time speed measurement method at the moment of crossing a track joint by using a gap sensor, which is applied to a magnetic levitation train, and is shown in fig. 1, the magnetic levitation train is provided with a sensor group, the sensor group comprises a plurality of gap sensors arranged at intervals, the sensing surfaces of the gap sensors face to a track, the track comprises at least one joint, and is shown in fig. 2, the real-time speed measurement method at the moment of crossing the track joint by using the gap sensors comprises the following steps:

s101: and acquiring sensing data of the gap sensor.

S102: and determining the moment when each clearance sensor passes through the joint as the joint moment according to the sensing data of each clearance sensor.

S103: and calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the two adjacent gap sensors.

S104: determining a current speed of the magnetic levitation vehicle.

Fig. 1 shows a schematic representation of a sensor group on a magnetic levitation vehicle, in which the number of gap sensors in the sensor group is greater than or equal to two, 10 in fig. 1 denotes a track, 20 denotes the magnetic levitation vehicle, and 30 denotes the gap sensors. In fig. 1, the sensor group includes three gap sensors, and the three gap sensors are disposed on a side of the maglev train facing the track at equal intervals, so that the sensing surfaces of the gap sensors face the track, and the time when the gap sensors pass through the joint of the track can be accurately measured. In other embodiments of the present application, the number of the gap sensors may also be 4, 5, 6, etc., which is not limited in the present application, depending on the actual situation.

As can be seen from fig. 1, when the position of the gap sensor is the track, the value of the detected sensing data is a first fixed value, and when the gap sensor passes through the joint, the value of the detected sensing data becomes a second fixed value, and it can be determined whether the gap sensor passes through the crack of the track according to the change of the sensing data, and the current speed of the maglev train can be calculated according to the time when the gap sensors pass through the crack of the track and the distance between the adjacent gap sensors. The types of gap sensors include, but are not limited to, displacement sensors and distance sensors.

The following describes a specific feasible implementation process of each step of the real-time speed measurement method using the gap sensor at the time of crossing the track seam provided by the embodiment of the present application.

Optionally, referring to fig. 3, the determining, according to the sensing data of each gap sensor, a time when each gap sensor passes through the seam as a seam time includes:

s1021: and sequencing the sensing data of the gap sensors according to the time of passing through the seam. Referring to fig. 4 and 5, fig. 4 and 5 are respectively a result of sorting sensing data obtained by three gap sensors arranged at equal intervals in two different cases, in fig. 4, each curve is respectively sensing data corresponding to three joints, such as anoriginal gap 1, anoriginal gap 2, and an original gap 3, in fig. 5, each curve is respectively sensing data corresponding to three joints, such as a small gap, a middle gap, and a large gap, in fig. 4 and 5, the abscissa in fig. 4 and 5 is time (unit is 400 microseconds), and the ordinate in fig. 5 is track gap (unit is 49 micrometers).

S1022: and determining a joint time period corresponding to each joint according to the sorted sensing data of each gap sensor, wherein the joint time period is a time period when each gap sensor passes through the joint.

The method of determining the seam time period corresponding to each of the seams in step S1022 may employ a gap time period identification algorithm. In general, when the number of gap sensors in a sensor group is N, a real track seam corresponds to N seam time periods.

S1023: and determining the time when each seam passes according to the determined seam time period corresponding to each seam.

Specifically, step S1022 includes:

s10221: and taking the same position of each seaming time period as the seaming time corresponding to the seaming time period.

The same position may be a start position, a middle position, or an end position of the seam time period.

Taking the starting position as an example, the process of determining the seam time can refer to fig. 6-8. The abscissa in fig. 6-8 is time (in 400 microseconds) and the ordinate is track gap (in 49 microns).

Optionally, as shown in fig. 9, after calculating the measurement speed corresponding to two adjacent gap sensors according to the seam time of each gap sensor and the distance between the adjacent gap sensors, the method further includes:

s105: and performing low-pass filtering on the measurement speed obtained by calculation to filter out the measurement speed lower than a preset speed threshold value.

When a sensor group passes through a seam, the generated sensing data comprises a plurality of seam time differences, wherein the time difference with the previous seam is not needed, and the distance between adjacent gap sensors is divided by the time difference passing through the seam to obtain a seam speed, wherein the time difference with the previous seam is not needed, and the calculated value is far lower than other calculated values, so that the calculated measured speed needs to be subjected to low-pass filtering to filter out the measured speed lower than a preset speed threshold value, so that the measurement result is more accurate.

Referring to fig. 10 and 11, the velocity due to non-identical seams may also be calculated, and due to the trajectory and aspects, there are a few points that deviate significantly from the surrounding velocity values, and at this time we can use low-pass filtering to filter out the points, and then we can generate the final velocity estimation curve. In fig. 10 and 11, sd represents a speed curve composed of the measurement speeds without low-pass filtering, and c represents a speed curve composed of the measurement speeds after low-pass filtering. The abscissa in fig. 10 and 11 is time (in 400 microseconds) and the ordinate is speed of time (in kilometers per hour).

As shown in fig. 11, the experimental data is a period of driving after the magnetic levitation vehicle accelerates from a standstill. Because the experimental data of gathering, the second half section acquisition time curve has obvious dislocation, and normal time curve is continuous straight line, and the time continuity of second half section data goes wrong, and data is unreliable, so deceleration stage data has been cut off, and this curve is according with the actual speed sensation when gathering promptly.

Optionally, as shown in fig. 12, the method for measuring speed in real time at the time of passing through the track joint by using the gap sensor further includes:

s106: acquiring a reference speed;

s107: and correcting the determined current speed of the magnetic suspension train according to the reference speed to obtain corrected speed data.

The reference speed includes, but is not limited to, speed information obtained based on GPS navigation.

When the correction is performed according to the reference speed, a coefficient may be assigned to the reference speed and the determined current speed for weighted summation.

Referring to fig. 13 and 14, fig. 13-14 show a schematic diagram of a corrected speed profile obtained by correcting an original speed profile using a reference speed. The abscissa in fig. 13 and 14 is time (in 400 microseconds) and the ordinate is speed per hour (in kilometers per hour).

Optionally, in an embodiment of the present application, after obtaining the corrected speed data or the current speed of the magnetic levitation train, the obtained data may be further processed according to different requirements.

The real-time speed measuring system using the gap sensor at the time of crossing the track joint provided by the embodiment of the present application is described below, and the real-time speed measuring system using the gap sensor at the time of crossing the track joint described below may be referred to by the above-described real-time speed measuring method using the gap sensor at the time of crossing the track joint.

Correspondingly, this application embodiment provides an utilize clearance sensor to cross real-time speed measuring system of track seam moment, includes:

a sensor group, wherein the sensor group comprises a plurality of gap sensors which are arranged on a magnetic suspension train at intervals, the sensing surfaces of the gap sensors face to a track, and the track comprises at least one joint;

a processor, the processor comprising:

the data acquisition module is used for acquiring sensing data of the gap sensor;

the time determining module is used for determining the time when each gap sensor passes through the joint as the joint time according to the sensing data of each gap sensor;

the speed calculation module is used for calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the two adjacent gap sensors;

and the speed determining module is used for determining the current speed of the magnetic suspension train.

Optionally, the sensor group includes three gap sensors arranged at equal intervals on the magnetic levitation vehicle.

Optionally, the time determining module includes:

the data sorting unit is used for sorting the sensing data of the gap sensors according to the time of passing through the seam;

the time period determining unit is used for determining a joint time period corresponding to each joint according to the sorted sensing data of each gap sensor, wherein the joint time period is a time period when each gap sensor passes through the joint;

and the time determining unit is used for determining the time of passing each joint according to the determined joint time period corresponding to each joint.

Optionally, the processor further includes:

and the low-pass filtering module is used for performing low-pass filtering on the measured speed obtained by calculation so as to filter out the measured speed lower than a preset speed threshold value.

Optionally, the processor further includes:

the reference speed module is used for acquiring a reference speed;

and the speed correction module is used for correcting the determined current speed of the magnetic suspension train according to the reference speed so as to obtain corrected speed data.

In summary, the present application provides a method and a system for measuring speed of a magnetic levitation train in real time at a track-crossing time by using a gap sensor, wherein the method for measuring speed of a magnetic levitation train in real time at the track-crossing time by using a gap sensor is implemented based on a plurality of gap sensors disposed on the magnetic levitation train, specifically, a sensing surface of each gap sensor faces the track, so that sensing data of the gap sensor reflects a time when the gap sensor passes through a seam on the track, after the sensing data of the gap sensor is obtained, a time when each gap sensor passes through the seam is determined as a seam time according to the sensing data of each gap sensor, then a time when each gap sensor passes through the same seam is determined as a seam time, and finally a current speed of the magnetic levitation train is determined, the method for measuring the speed of the magnetic suspension train in real time at the moment of crossing the seam of the track by utilizing the gap sensor does not need to transform the track of the magnetic suspension train, and has the characteristic of low cost.

Features described in the embodiments in the present specification may be replaced with or combined with each other, each embodiment is described with a focus on differences from other embodiments, and the same and similar portions among the embodiments may be referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application 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.

Claims (10)

1. A real-time speed measurement method at the track joint crossing moment by utilizing a gap sensor is applied to a magnetic suspension train, the magnetic suspension train is provided with a sensor group, the sensor group comprises a plurality of gap sensors which are arranged at intervals, the sensing surfaces of the gap sensors face to a track, the track comprises at least one joint, and the real-time speed measurement method at the track joint crossing moment by utilizing the gap sensors comprises the following steps:

acquiring sensing data of the gap sensor;

determining the moment when each gap sensor passes through the joint as the joint moment according to the sensing data of each gap sensor;

calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the two adjacent gap sensors;

determining a current speed of the magnetic levitation vehicle.

2. The method for measuring speed of a track passing through a seam in real time by using gap sensors as claimed in claim 1, wherein the step of determining the time when each gap sensor passes through the seam as the seam time according to the sensing data of each gap sensor comprises:

sequencing the sensing data of the gap sensors according to the time of passing through the seam;

determining a seam time period corresponding to each seam according to the sorted sensing data of each gap sensor, wherein the seam time period is a time period when each gap sensor passes through the seam;

and determining the time when each seam passes according to the determined seam time period corresponding to each seam.

3. The method for measuring speed in real time at the time of crossing a track joint by using a gap sensor according to claim 2, wherein the determining the time of crossing each joint according to the determined joint time period corresponding to each joint comprises:

and taking the same position of each seaming time period as the seaming time corresponding to the seaming time period.

4. The method for measuring speed in real time at the time of crossing a track joint by using gap sensors as claimed in claim 1, wherein after calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the adjacent gap sensors, further comprises:

and performing low-pass filtering on the measurement speed obtained by calculation to filter out the measurement speed lower than a preset speed threshold value.

5. The method for measuring speed in real time at the time of crossing a track joint by using a gap sensor as claimed in claim 1, further comprising:

acquiring a reference speed;

and correcting the determined current speed of the magnetic suspension train according to the reference speed to obtain corrected speed data.

6. A real-time velocity measurement system using a gap sensor at a time of crossing a rail joint, comprising:

a sensor group, wherein the sensor group comprises a plurality of gap sensors which are arranged on a magnetic suspension train at intervals, the sensing surfaces of the gap sensors face to a track, and the track comprises at least one joint;

a processor, the processor comprising:

the data acquisition module is used for acquiring sensing data of the gap sensor;

the time determining module is used for determining the time when each gap sensor passes through the joint as the joint time according to the sensing data of each gap sensor;

the speed calculation module is used for calculating the measuring speed corresponding to two adjacent gap sensors according to the joint time of each gap sensor and the distance between the two adjacent gap sensors;

and the speed determining module is used for determining the current speed of the magnetic suspension train.

7. The system of claim 6, wherein the sensor set comprises three gap sensors spaced equally on the magnetic levitation vehicle.

8. The system of claim 6, wherein the time determination module comprises:

the data sorting unit is used for sorting the sensing data of the gap sensors according to the time of passing through the seam;

the time period determining unit is used for determining a joint time period corresponding to each joint according to the sorted sensing data of each gap sensor, wherein the joint time period is a time period when each gap sensor passes through the joint;

and the time determining unit is used for determining the time of passing each joint according to the determined joint time period corresponding to each joint.

9. The system of claim 6, wherein the processor further comprises:

and the low-pass filtering module is used for performing low-pass filtering on the measured speed obtained by calculation so as to filter out the measured speed lower than a preset speed threshold value.

10. The system of claim 6, wherein the processor further comprises:

the reference speed module is used for acquiring a reference speed;

and the speed correction module is used for correcting the determined current speed of the magnetic suspension train according to the reference speed so as to obtain corrected speed data.

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