低速磁浮列车悬浮系统动力学建模及非线性控制研究

Dynamic Modeling and Nonlinear Control Research for Magnetic Suspension Systems of Low-Speed Maglev Train

摘要:

以国家磁浮交通研究中心的低速磁浮列车为研究对象,探讨了外界扰动、非线性和时变性条件下悬浮控制系统的设计问题。首先建立悬浮系统非线性数学模型,并搭建悬浮系统仿真平台。然后设计线性PD控制律,仿真表明其性能依赖参数的选取,对扰动敏感,鲁棒性弱。为提高悬浮控制器的鲁棒性,由可变边界层和指数趋近律出发,导出改进型的滑模控制律。用Lyapunov法证明其稳定性。仿真结果表明该控制律动态性能好,控制精度高,鲁棒性强,且能有效抑制系统颤振。最后通过整车试验证明所提出的改进型滑模控制律的有效性。

关键词:低速磁浮列车;滑模变结构;可变边界层; Lyapunov法;整车试验

Abstract:

The low-speed maglev train presented by national maglev transportation engineering R&D center was regarded as the research object. The design of magnetic suspension control (MSC) system under disturbance, nonlinear and time variant was discussed. Firstly, the nonlinear dynamic model of the MSC system was derived and the simulation platform of the MSC system was established. Next, the linear PD control law was designed. The simulation results show its performance depended on parameters and its robust was weak. An improved sliding mode controller was developed to improve the robustness by utilizing exponential reaching law and variable boundary layer. The Lyapunov method was employed to prove its stability. The sufficient simulations show that the presented control method had good dynamic performance, high control accuracy and strong robustness without chattering. Finally, the experiment verified the effectiveness of the improved sliding mode controller.

Key words:low-speed maglev train; sliding mode; variable boundary layer; Lyapunov method; train experiment