磁悬浮控制器设计及静悬浮稳定性分析

汪科任; 罗世辉; 张继业

doi:10.3969/j.issn.0258-2724.2017.01.017

磁悬浮控制器设计及静悬浮稳定性分析

doi: 10.3969/j.issn.0258-2724.2017.01.017

基金项目:

国家自然科学基金资助项目（11572264）

详细信息

作者简介:
汪科任(1987-),男,博士研究生,研究方向为磁浮列车系统动力学及控制,E-mail:13679063616@163.com

通讯作者:
罗世辉(1964-),男,教授,博士,研究方向为机车车辆动力学,E-mail:shluo@swjtu.edu.cn

计量
- 文章访问数: 721
- HTML全文浏览量: 94
- PDF下载量: 234
- 被引次数: 0
出版历程
- 收稿日期: 2016-01-21
- 刊出日期: 2017-02-25

Design of Magnetic Levitation Controller and Static Stability Analysis

摘要

摘要: 为实现磁浮列车在低轨道梁刚度下稳定悬浮，降低轨道梁建设成本，依据牛顿第二定律建立了单铁-弹性轨道-车体耦合动力学模型.首先，设计出状态观测器将悬浮电磁铁、轨道梁及车体的振动状态引入控制系统；然后，利用线性矩阵不等式求解法求解出系统的状态反馈增益矩阵，结合二者利用MATLAB进行相关动力学仿真，得出轨道梁刚度与质量分别为200 kN/m与325 kg的最佳取值.分析结果表明，与传统的基于黎卡提方程求解的控制器相比，采用线性矩阵不等式求解法具有更优的二次性能指标；所提出的控制方法能够实现系统在较低轨道梁刚度与质量下的稳定悬浮，并能在0.5 s左右进入稳定状态；系统在一定外界扰动下具有鲁棒性.
- 磁浮列车 /
- 轨道梁 /
- 磁悬浮控制器 /
- 线性矩阵不等式 /
- 鲁棒性
Abstract: In order to realize the stable suspension of the maglev train in the condition of low track beam stiffness, and reduce construction cost of track beam, a electromagnet-elastic-track-carbody model was established based on Newton's second law. Firstly, the vibration information of electromagnet, track beam and carbody was introduced into the control system by the designed state observer; then the feedback gain matrix was obtained using linear matrix inequality. Next, both were utilized for the dynamic simulation by MATLAB to derive the optimal track beam stiffness and quality, which are 200 kN/m and 325 kg, respectively. The analysis results show that compared with the traditional optimal controller based on the Riccati equation, the controller using linear matrix inequality control algorithm achieves a better quadratic performance index. The control strategy is able to realize the system stable suspension at small stiffness and mass of track beam, and stabilize the system after 0.5 seconds or so. The system is robust to some external disturbances.
- maglev train /
- track beam /
- magnetic levitation controller /
- LMI /
- robustness

HTML全文

参考文献(15)

翟婉明,赵春发. 磁浮车辆/轨道系统动力(Ⅰ):磁/轨相互作用及稳定性[J]. 机械工程学报,2005,41(7):1-10. ZHAI Wanming, ZHAO Chunfa. Dynamics of maglev vehicle/guideway systems(Ⅰ):magnet/rail interaction and system stability[J]. Chinese Journal of Mechanical Engineering, 2005, 41(7):1-10.

陶兴. 中低速磁悬浮轨道梁关键设计参数研究[D]. 上海:同济大学,2008.

KIM K J, HAN J B, HAN H S. Coupled vibration analysis of maglev vehicle-guideway while standing still or moving at lows peeds[J]. Vehicle System Dynamics, 2015, 53(4):587-601.

黎松奇,张昆仑. 基于悬浮控制算法的磁浮列车动力学仿真研究[J]. 系统仿真学报,2015, 27(1):179-184. LI Songqi, ZHANG Kunlun. Research of maglev train dynamics simulation based on levitation control algorithm[J]. Journal of System Simulation, 2015, 27(1):179-184.

黎松奇,张昆仑. 单磁铁悬浮系统自激振动的稳定性分析及抑制[J]. 西南交通大学学报, 2015,50(3):411-416. LI Songqi, ZHANG Kunlun. Self-excited vibration of single-magnet suspension system:stability analysis and inhibition[J]. Journal of Southwest Jiaotong University, 2015, 50(3):411-416.

邓永权,罗世辉. 单磁铁系统的稳定性与仿真分析[J]. 电力机车与城轨车辆,2005,28(5):44-46. DENG Yongquan, LUO Shihui. Stability research and silulation of a single magnetic system[J]. Electric Locomotives and Mass Transit Vehicle, 2005, 28(5):44-46.

WANG Hui, ZHONG Xiaobo, SHEN Gang. Analysis and experimental study on the MAGLE vehicle-guideway interaction based on the full-state feedback theory[J]. Journal of Vibration and Control, 2015, 21(2):408-416.

邓亚士,魏庆朝,时瑾. 高速磁浮桥上轨道梁振动特性初步研究[J]. 振动工程学报,2008,21(3):248-254. DENG Yashi, WEI Qingchao, SHI Jin. Vibration characteristics of guideway specific for bridgeof maglev under irregularities[J]. Journal of Vibration Engineering, 2008, 21(3):248-254.

CAI Y,CHEN S S, ROTE D M.Vehicle/guideway dynamic interaction in maglev systems[J]. Nasa Sti/recon Technical Report N, 1992, 93(3):526-530.

梁鑫,罗世辉,马卫华,等. 磁浮列车单铁悬浮车桥耦振动分析[J]. 交通运输工程学报,2012,12(2):32-37. LIANG Xin, LUO Shihui, MA Weihua, et al. Coupling vibration analysis of single-magnet suspension vehicle bridge for maglev train[J]. Journal of Traffic and Transportation Engineering, 2012, 12(2):32-37.

赵春发,翟婉明. 常导电磁悬浮动态特性研究[J]. 西南交通大学学报,2004,39(4):464-468. ZHAO Chunfa, ZHAI Wanming. Dynamic characteristics of electromagnetic levitation systems[J]. Journal of Southwest Jiaotong University, 2004, 39(4):464-468.

YU Li. Optimal guaranteed cost control of linearuncertain system:an LMI approach[J]. Control Theory and Applications, 2000, 17(3):423-428.

MEISINGER R.Control systems for flexible maglev vehicles riding over flexible guideways[J]. Vehicle Dynamics System, 1975, 4(2/3):200-202.

俞立. 鲁棒控制-线性矩阵不等式处理方[M]. 北京:清华大学出版社,2002:123-124.

李莉,孟光. 慢起慢落时磁浮车辆与钢轨道框架耦合共振分析[J]. 振动与冲击,2006,25(6):46-48,75. LI Li, MENG Guang. Analysis on resonance vibration of maglev trains' suspending or loading on steel track frame[J]. Journal of Vibration and Shock, 2006, 25(6):46-48, 75.

施引文献

附加材料(0)

访问统计