基于误差交叉耦合的多电磁铁悬浮系统滑模协同控制

孙友刚; 徐俊起; 贺祯宇; 李丰荥; 陈琛; 林国斌

doi:10.3969/j.issn.0258-2724.20210924

基于误差交叉耦合的多电磁铁悬浮系统滑模协同控制

doi: 10.3969/j.issn.0258-2724.20210924

孙友刚^{1, 2, 3,},
徐俊起^{2, 3, ,},
贺祯宇¹,
李丰荥¹,
陈琛²,
林国斌^{2, 3}

1.
同济大学铁道与城市轨道交通研究院，上海 201804
2.
同济大学国家磁浮交通工程技术研究中心，上海 201804
3.
同济大学磁浮技术铁路行业重点实验室，上海 201804

基金项目: 国家重点研发计划（2016YFB1200602）；国家自然科学基金（51905380，52072269）；上海市多网多模式轨道交通协同创新中心基金（28002360012）；上海市级科技重大专项（2021SHZDZX0100）；湖南创新型省份建设专项（2020GK2084）

详细信息

作者简介:
孙友刚（1989—），男，副教授，博士，研究方向为磁浮列车动力学及控制，E-mail：1989yoga@tongji.edu.cn

通讯作者:
徐俊起（1977—），男，高级工程师，博士，研究方向为电磁悬浮控制理论与应用，E-mail：xujunqi@tongji.edu.cn

中图分类号: U237
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出版历程
- 收稿日期: 2021-11-15
- 修回日期: 2022-03-10
- 刊出日期: 2022-04-13

Sliding Mode Cooperative Control of Multi-Electromagnet Suspension System Based on Error Cross Coupling

SUN Yougang^{1, 2, 3
,},
XU Junqi^{2, 3
, ,},
HE Zhenyu¹,
LI Fengxing¹,
CHEN Chen²,
LIN Guobin^{2, 3}

1.
Institute of Rail Transit, Tongji University, Shanghai 201804, China
2.
National Maglev Transportation Engineering R & D Center, Tongji University, Shanghai 201804, China
3.
Key Laboratory of Maglev Technology in Railway Industry，Tongji University, Shanghai 201804, China

摘要

摘要:
针对磁浮列车传统的单点悬浮控制方法没有考虑多电磁铁间的协调同步问题，将多电磁铁的跟踪误差交叉耦合来设计高精度的协同控制方法，在减少了多点悬浮系统的跟踪误差和同步误差的同时，提高了系统抗干扰能力. 首先，通过动力学分析了考虑未知扰动的4个电磁铁（2个控制模块）悬浮系统的动力学特征；其次，针对系统中的未知扰动，引入干扰观测器来估计扰动并进行扰动补偿；然后，考虑到相邻电磁铁控制模块之间存在耦合动力学特性，设计一种误差交叉耦合的滑模协同控制器；最后，在不作任何线性化处理的前提下，证明了闭环系统的渐近稳定性. 研究结果表明：通过多电磁铁的悬浮架实验证明所提方法可以考虑补偿电磁铁模块之间的协调关系，抑制扰动的影响，减小间隙跟踪误差达40%，显著减少了电磁铁之间的耦合扰动作用.
- 磁浮列车 /
- 多点悬浮系统 /
- 滑模协同控制 /
- 干扰观测器 /
- 误差交叉耦合
Abstract:
As to the problem that traditional signal point suspension control method of maglev train lacks consideration of coordination and synchronization of multiple electromagnets, a novel coordination control method is developed through tracking error cross-coupling. The novel method can reduce tracking error and synchronization error of multiple points suspension system and enhance anti-disturbance ability at the same time. Firstly, through dynamic analysis, the dynamic equations of four electro magnets (two control modules) suspension system considering unknown disturbance are established. Secondly, in order to estimate and compensate the unknown disturbance of the system, a disturbance observer is introduced. Next, considering the coupling dynamic characteristics of adjacent electromagnet control modules, a sliding mode coordinated controller of error cross coupling is designed. Finally, the asymptotic stability of the closed-loop system is proved without linearization. The experiments show that the presented control method can compensate the coordination relationship of electromagnet modules, suppress the effect of disturbance, reduce the synchronization error by 40%, and inhibit the coupling disturbance between electro magnets significantly.
- maglev train /
- multipoint suspension system /
- sliding mode cooperative control /
- disturbance observer /
- error cross coupling

HTML全文

图 1 悬浮架同侧多电磁铁悬浮系统

Figure 1. Multi-electromagnet suspension system on the same side of suspension frame

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图 2 多电磁铁悬浮系统动力学模型

Figure 2. Dynamic model of multi-electromagnet suspension system

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图 3 带观测器的滑模协同控制系统框图

Figure 3. Block diagram of sliding mode cooperative control system with observer

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图 4 带多电磁铁模块的悬浮架试验平台

Figure 4. Suspension frame test platform with multi-electromagnet modules

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图 5 悬浮间隙波动实验结果（PID控制器）

Figure 5. Experimental results of suspension airgap fluctuation （PID controller）

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图 6 悬浮电流波动实验结果（PID控制器）

Figure 6. Experimental results of suspension current fluctuation （PID controller）

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图 7 悬浮间隙波动实验结果（滑模协同控制）

Figure 7. Experimental results of suspension airgap fluctuation （sliding mode cooperative control）

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图 8 悬浮电流波动实验结果（滑模协同控制）

Figure 8. Experimental results of suspension current fluctuation （sliding mode cooperative control）

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表 1 磁悬浮系统参数

Table 1. Magnetic levitation system parameters

物理参数	取值	物理参数	取值
m_s/kg	750	μ₀/（H·m⁻¹）	4π × 10⁻⁷
N_m	340	A/m²	0.0196
δ_d/m	0.008	g/（m·s⁻²）	9.8

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