基于预先补偿和全状态反馈控制的车-轨耦合振动抑制

Vehicle-guideway Coupling Vibration Suppression Based on Pre-compensation and Full-state Feedback Control

摘要:

以高速磁浮列车为研究对象，探讨了弹性轨道下的车-轨耦合振动问题。建立了能反映实际问题的车-轨耦合最小悬浮单元模型，并进行了开环系统稳定性和耦合振动机理分析。以弥补比例-积分-微分（PID）控制器有效信息利用不足为出发点，设计了基于预先补偿的全状态反馈控制器。通过仿真分析了反馈增益矩阵对系统跟踪性能和振动抑制能力的影响，提出了适当降低对悬浮间隙的要求换取振动抑制能力提升的思路。进一步分析了反馈系数对悬浮系统性能的影响规律，基于此得到了优化的预先补偿和全状态反馈控制框架。最后，通过实验验证了基于预先补偿的全状态反馈控制对抑制车-轨弹性耦合振动的有效性。

Abstract:

Taking the high-speed maglev train as the research object， the vehicle-guideway coupling vibration was discussed under the condition of elastic track. The minimum suspension element model of the actual vehicle-guideway coupling was established， and the mechanism analysis of the stability and coupling vibration of the open-loop system was conducted. In order to make up for the lack of effective information utilization of proportional-integral-differential （PID） controller， a full-state feedback controller was designed based on pre-compensation. By analyzing the effect of the feedback gain matrix on the system tracking performance and vibration suppression capability through simulation， an idea was proposed to appropriately reduce the suspension clearance in exchange for the improvement of vibration suppression capability. Further， the influence law of the feedback coefficient on the performance of the suspension system was analyzed， and on this basis an optimized pre-compensation full-state feedback control framework was obtained. Through experiments， the full-state feedback control was demonstrated based on pre-compensation， which can effectively suppress the elastic coupling vibration of the guideway.