纵向耦合驱动式有轨电车μ综合导向控制

μSynthesis Active Guidance Control for Longitudinal Coupled Tramcar with Independently Rotating Wheels

摘要:

提出通过控制纵向驱动电机的输出转矩，以改善采用纵向耦合驱动独立旋转车轮转向架有轨电车的直线对中和曲线通过性能，降低车轮磨耗.采用鲁棒μ综合法进行控制器设计，以应对轮轨系统的非线性、系统参数变化、测量噪声和外部输入不确定性.首先对单个轮对设计主动导向控制器，在单轮对控制器的基础上提出3种控制方案，并通过MATLAB和SIMPACK的联合仿真对控制效果进行了比较.结果表明,同时采用前后轮状态作为控制器输入信号时，能得到相对较好的控制效果，使车辆在直线上的综合磨耗数降低38%，在曲线上的磨耗数降低54%.

关键词:低地板有轨电车; 独立旋转车轮; 纵向耦合驱动; 主动导向; 鲁棒μ综合控制

Abstract:

This paper presents an active guidance control method by changing the output torque of the longitudinal drive motor for tramcar using independently rotating wheelsets (IRWs) with longitudinal coupling bogie, to improve the guidance ability and reduce the wheelrail wear. The robust μsynthesis method is used to tackle the nonlinear characteristic and parameter uncertainty of the tramcar which generate mainly from the wheelrail interface, the measurement noise and external disturbances. Three control schemes are proposed based on the single wheel controller. The effect of the controller is verified by the cosimulation of MATLAB and SIMPACK. The results show that when the front and rear wheelset states are used as the controller input signal, the relative best control effect can be obtained, the total wear number of the front and rear wheelsets is reduced by 38% on a straight track, and by 54% on a curved track.

Key words:low floor tramcar; independently rotating wheels; longitudinal coupling bogie; active guidance; robust μsynthesis control