HJI理论下滑模鲁棒控制对磁浮列车悬浮特性影响研究

佟来生; 张文跃; 郑文文; 朱琳; 徐俊起

doi:10.13433/j.cnki.1003-8728.20200214

HJI理论下滑模鲁棒控制对磁浮列车悬浮特性影响研究

doi: 10.13433/j.cnki.1003-8728.20200214

1.
中车株洲电力机车有限公司磁浮系统研究所，湖南株洲　412001
2.
同济大学磁浮交通工程技术研究中心，上海　201804

基金项目: “十三五”国家重点研发计划先进轨道交通重点专项（2016YFB1200601）、磁浮交通车辆系统集成湖南省重点实验室项目（2018TP1035）及湖湘青年英才项目（2019RS2061）

详细信息

作者简介:
佟来生（1977−），博士，研究方向为磁悬浮控制，alanatlsh@126.com

通讯作者:
徐俊起，高级工程师，硕士，xunjunqi@tongji.edu.cn

中图分类号: TP273
计量
- 文章访问数: 168
- HTML全文浏览量: 42
- PDF下载量: 7
- 被引次数: 0
出版历程
- 收稿日期: 2019-11-07
- 刊出日期: 2021-10-18

Influence of HJI Theory Sliding Mode Robust Control on Suspension Characteristics of Maglev Train

1.
Maglev System Research Institute, CRRC Zhuzhou Electric Locomotive Co., Ltd., Zhuzhou 412001, Hu' nan, China
2.
Maglev Transportation Engineering R&D Center, Tongji University, Shanghai 201804, China

摘要

摘要: 针对负载扰动和轨道不平顺激励等干扰下磁浮列车悬浮系统的悬浮稳定性问题，提出了一种基于二类李雅普诺夫函数的滑模控制策略使其能够严格保证系统维持在目标悬浮间隙附近。设计了期望悬浮间隙并将其设为虚拟输入，在动力学方程中采取滑模控制算法实现悬浮误差的跟踪控制。根据垂向悬浮间隙的相应约束条件引入HJI理论和李雅普诺夫函数设计相应控制器，使其能够在各种干扰下保证悬浮稳定性。基于李雅普诺夫稳定性定理证明闭环系统稳定性，使系统在受到扰动时能够尽可能的保证悬浮精度并进行误差整定，将悬浮误差收敛到无穷小。对比了现有PID控制算法在同样工况下的悬浮性能，对比了仿真验证所提出控制律的有效性和鲁棒性。
- 磁浮列车悬浮系统 /
- HJI理论 /
- 李雅普诺夫函数 /
- 滑模控制 /
- 误差整定
Abstract: A sliding mode control strategy based on two kinds of Lyapunov function is proposed for the suspension stability of maglev train levitation system under the disturbance of load disturbance and track irregularity excitation. Firstly, according to the dynamic equation and voltage equation, the corresponding mathematical model is established, and the desired suspension gap is designed and set as a virtual input. In the dynamic equation, the sliding mode control algorithm is adopted to realize the tracking control of suspension error. Then, according to the corresponding constraints of vertical suspension gap, Hamilton-Jacobi Inequality (HJI) theory and the Lyapunov function are introduced to design the corresponding controller, which can ensure the suspension stability under various disturbances. In addition, the stability of the closed-loop system is proved using the Lyapunov stability theorem, so that the suspension accuracy of the system can be guaranteed and the error can be adjusted as much as possible when it is disturbed, and the suspension error can be converged to infinity. Finally, the effectiveness and robustness of the proposed control law are verified by comparing the suspension performance of the existing PID control algorithm under the same working condition.
- levitation system of maglev train /
- HJI theory /
- Lyapunov function /
- sliding mode control /
- error setting

HTML全文

图 1 悬浮系统工作原理

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图 2 悬浮系统仿真框架结构

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图 3 轨道不平顺激励

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图 4 非线性扰动力

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图 5 跟踪性能验证

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图 6 负载扰动激励下悬浮间隙误差

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