基于模糊补偿的磁浮列车悬浮系统非奇异终端滑模控制

孙友刚; 张丹丹; 吉文; 徐俊起

doi:10.3969/j.issn.0258-2724.20240499

基于模糊补偿的磁浮列车悬浮系统非奇异终端滑模控制

doi: 10.3969/j.issn.0258-2724.20240499

孙友刚^{1, 2,},
张丹丹^1,,
吉文^{1, 2},
徐俊起^{1, 2, ,}

1.
同济大学交通学院高速磁浮运载技术全国重点实验室，上海 201804
2.
同济大学磁浮交通工程技术研究中心，上海 201804

基金项目: 国家重点研发计划（2023YFB4302502）；国家自然科学基金项目（52232013, 52272374）

详细信息

作者简介:
孙友刚（1989—），男，副教授，博士，研究方向为磁浮车辆动力学及智能控制，E-mail：1989yoga@tongji.edu.cn

通讯作者:
徐俊起（1977—），男，研究员，博士，研究方向为高速磁浮列车运载技术，E-mail： xujunqi@tongji.edu.cn

中图分类号: TH212；TH213.3
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- 文章访问数: 141
- HTML全文浏览量: 35
- PDF下载量: 24
- 被引次数: 0
出版历程
- 收稿日期: 2024-10-08
- 修回日期: 2025-05-19
- 刊出日期: 2025-05-21

Fuzzy Compensation-Based Non-Singular Terminal Sliding Mode Control of Maglev Vehicle Levitation System

SUN Yougang^{1, 2
,},
ZHANG Dandan^1
,,
JI Wen^{1, 2},
XU Junqi^{1, 2
, ,}

1.
State Key Laboratory of High-Speed Maglev Transportation Technology, College of Transportation, Tongji University, Shanghai 201804, China
2.
National Maglev Transportation Engineering R & D Center, Tongji University, Shanghai 201804, China

摘要

摘要:
针对电磁悬浮（EMS）型磁浮列车在实际运行时，因系统参数时变、侧风气动升力以及载客量变化等因素，致使高精度悬浮动态性能下降的问题，提出一种自适应模糊非奇异终端滑模控制（FNTSC）方法. 首先，建立考虑系统不确定性与外部干扰的单电磁铁悬浮系统动力学模型；其次，采用模糊逻辑系统对悬浮系统中的未知非线性函数进行在线逼近与动态补偿；然后，针对传统滑模控制（SMC）中的奇异性问题和颤振现象，设计非奇异终端滑模控制器，并在不进行任何线性化处理的前提下，基于Lyapunov稳定性理论证明跟踪误差的有限时间收敛性；最后，将PID、SMC、模糊PID控制方法与FNTSC方法进行仿真对比，并进一步开展PID和FNTSC方法的实验对比，验证所提方法的有效性和鲁棒性. 研究结果表明：在随机外部干扰和轨道不平顺情况下，FNTSC方法具有更小的稳态误差和更优的跟踪性能；相较于PID控制方法，静态悬浮的均方根误差降低15.7%，对幅值为2 mm的正弦波不平顺轨迹，其跟踪误差可限定在0.05 mm以内.
- 磁浮交通 /
- 悬浮系统 /
- 模糊控制 /
- 非奇异终端滑模控制 /
- 鲁棒性 /
- 自适应控制
Abstract:
To improve the degradation of high-precision dynamic levitation performance in electromagnetic suspension (EMS) maglev trains caused by time-varying system parameters, crosswind aerodynamic lift, and passenger load variations during actual operation, an adaptive fuzzy non-singular terminal sliding mode control (FNTSC) method was proposed. Firstly, a dynamics model of a single electromagnet levitation system considering system uncertainty and external disturbance was established. Secondly, a fuzzy logic system was employed to achieve online approximation and dynamic compensation for the unknown nonlinear function in the levitation system. Then, to address the singularity issue and chattering phenomenon inherent in conventional sliding mode control (SMC), a non-singular terminal sliding mode controller was designed, and the finite-time convergence of the tracking error was proved based on the Lyapunov stability theory without any linearization. Finally, the PID, SMC, and fuzzy PID control methods were simulated and compared with the FNTSC method, and further experimental comparisons of the PID and FNTSC methods were carried out to verify their effectiveness and robustness. The experimental results show that the FNTSC exhibits smaller steady-state errors and superior tracking performance under random external disturbances and irregular trajectories. Compared with the PID control method, the FNTSC reduces the root-mean-square (RMS) error of static levitation by 15.7% and constrains the tracking error for a sinusoidal irregular trajectory with a 2 mm amplitude within 0.05 mm.
- maglev transportation /
- levitation system /
- fuzzy control /
- non-singular terminal sliding mode control /
- robustness /
- adaptive control

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图 1 单点悬浮系统模型示意

Figure 1. Single-point levitation system model

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图 2 FNTSC控制框图

Figure 2. Block diagram of FNTSC

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图 3 悬浮间隙响应（仿真1）

Figure 3. Levitation gap response (simulation scenario 1)

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图 4 电流响应（仿真1）

Figure 4. Current response (simulation scenario 1)

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图 5 三角波跟踪下的悬浮间隙响应（仿真2）

Figure 5. Levitation gap response under triangular wave tracking (simulation scenario 2)

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图 6 三角波跟踪下的电流响应（仿真2）

Figure 6. Current response under triangular wave tracking (simulation scenario 2)

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图 7 方波跟踪下的悬浮间隙响应（仿真2）

Figure 7. Levitation gap response under square wave tracking (simulation scenario 2)

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图 8 方波跟踪下的电流响应（仿真2）

Figure 8. Current response under square wave tracking (simulation scenario 2)

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图 9 随机时变扰动力

Figure 9. Random time-varying disturbance force

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图 10 随机扰动下的悬浮间隙响应（仿真3）

Figure 10. Levitation gap response under random disturbance (simulation scenario 3)

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图 11 随机扰动下的电流响应（仿真3）

Figure 11. Current response under random disturbance (simulation scenario 3)

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图 12 磁悬浮球实验平台

Figure 12. Magnetic levitation ball experiment platform

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图 13 悬浮间隙响应（实验1）

Figure 13. Experiment 1: levitation gap response

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图 14 控制电压响应（实验1）

Figure 14. Experiment 1: control voltage response

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图 15 悬浮间隙响应（实验2）

Figure 15. Experiment 2: levitation gap response

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图 16 控制电压响应（实验2）

Figure 16. Experiment 2: control voltage response

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表 1 单电磁铁悬浮系统参数

Table 1. Parameters of single electromagnet levitation system

参数值

m/kg 1500

N/匝 450

$\mu_0 $/（H·m⁻¹） 4π×10⁻⁷

${A_0} $/m² 0.024

初始 x/mm 20

理想 x/mm 9

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