Continuous velocity and location detection method of maglev vehicle based on cross inductive loop
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摘要: 分析了交叉回线区域空间磁场分布, 利用磁通密度纵向分布周期性特征, 将车辆位移、速度用感应电压包络信号相位角与角速度来表征; 建立了采用简单交叉回线的车辆测速定位状态空间方程组, 将车辆运行位置和速度作为状态变量在测试过程中连续输出; 考虑实际运行工况下的复杂电磁环境, 引入了噪声自适应算法, 提出了基于新息自适应的磁浮车辆实时连续测速定位计算方法; 在实验室条件下建立了交叉感应回线标定系统, 验证了方法的基本原理; 为了验证方法的有效性和准确性, 进了数值仿真算例分析, 考虑正常噪声和突变噪声工况, 并对比了包含和不包含自适应噪声处理过程的计算结果。试验结果表明: 不同间隔距离条件下, 感应电压包络线都接近于正弦波, 1次谐波是包络信号的主要成分, 相同阶次的谐波幅值与间隔距离成近似线性关系, 与理论分析结果一致; 在正常噪声区段, 速度误差不超过0.03 m·s-1, 定位误差约为3 mm, 在突变噪声区段, 速度误差均值为0.027 m·s-1, 最大值为0.130 m·s-1, 定位误差均值为4.82 mm, 最大值为23.39 mm, 说明测速定位方法可以满足实际应用需求; 数值仿真中突变噪声区段的低信噪比信号在实际应用中是极端情况, 对比正常噪声区段和突变噪声区段的计算结果可知改善输入信号的信噪比可以明显提高测试精度。Abstract: The spatial magnetic field distribution in the cross loop region was analyzed, and the vehicle displacement and velocity were characterized by the phase angle and angular velocity of the induced voltage envelope signal based on the longitudinal distribution and periodicity of magnetic flux density. The state-space equations of vehicle speed and location detection using simple cross loop were established, and the location and speed of the vehicle were taken as state variables outputted continuously during the test. Considering the complicated electromagnetic environment under the actual operating condition, the noise adaptive algorithm was introduced, and the real-time continuous speed and location detection calculation method of maglev vehicle based on the innovation adaption was proposed. The cross induction loop calibration system was established under laboratory condition, and the basic principle of the method was verified. In order to verify the effectiveness and accuracy of the method, numerical simulation analysis was carried out considering the normal and abrupt noise conditions, and the calculation results in the processes with and without adaptive noise were compared. Experimental result shows that at different interval distances, the induced voltage envelopes are close to the sinusoid. The first harmonic is the main component of the envelope signal, and the harmonic amplitude of the same order is approximately linear with the interval distance, which is consistent with the theoretical analysis result. In the normal noise section, the speed error is no more than 0.03 m·s-1, and the location error is about 3 mm. While in the abrupt noise section, the mean value and maximum value of velocity errors are 0.027 and 0.130 m·s-1, respectively, and the mean value and maximum value of location errors are 4.82 and 23.39 mm, respectively. It means that the speed and location detection method can meet the actual application requirement. The low signal-to-noise ratio(SNR) signal in the abrupt noise section in the numerical simulation is an extreme case in the practical application. Comparing the calculation results of normal and abrupt noise sections, improving the SNR of the input signal can obviously improve the measurement accuracy.
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图 7 谐波幅值与间隔距离的关系
Figure 7. Relationships between harmonic amplitudes and interval distances
图 8 接收线圈宽度和感应电压关系
Figure 8. Relationship between of receiving coil width and induced voltage
图 10 包含正常噪声和突变噪声的包络信号
Figure 10. Envelope signal containing normal noise and abrupt noise
表 1 突变噪声区段计算结果
Table 1. Calculation results of abrupt noise section
计算方法 定位误差/mm 速度误差/(m·s-1) 均值 最大值 均值 最大值 EKF 8.06 39.69 0.046 0.21 IAEKF 4.82 23.39 0.027 0.13 
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