基于改进跟踪微分器的磁浮列车悬浮控制研究

刘怡恒; 张和洪; 龙志强; 谢云德; 顾秋明; 傅随金

doi:10.13890/j.issn.1000-128X.2023.02.013

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基于改进跟踪微分器的磁浮列车悬浮控制研究

电力牵引与控制 | 更新时间：2024-08-02

- 基于改进跟踪微分器的磁浮列车悬浮控制研究
- Research on suspension control of maglev train via enhanced tracking differentiator
- 机车电传动 2023年第2期页码：113-122
- 作者机构：
  
  1.福州大学计算机与大数据学院，福建福州　　350108
  2.国防科技大学智能科学学院，湖南长沙　　410073
  3.北京轨道交通技术装备集团有限公司磁浮研究院长沙分院，湖南长沙　　410073
  4.乐嘉建设工程有限公司，福建福州;350812
- 作者简介：
  
  张和洪（1990—），男，博士，教授，博士生导师，主要从事自抗扰控制理论与应用，复杂系统故障诊断、容错控制与韧性分析、智能体协同控制、智能算法方面的研究；E-mail: 1204713191@qq.com
- 基金信息：
  
  国家自然科学基金项目(62003088);福建省自然科学基金项目(2021J02008)
- DOI：10.13890/j.issn.1000-128X.2023.02.013
  中图分类号： U237
- 纸质出版日期：2023-03-10，
  
  收稿日期：2022-10-08，
  
  修回日期：2023-02-13，
- 稿件说明：
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刘怡恒, 张和洪, 龙志强, 等. 基于改进跟踪微分器的磁浮列车悬浮控制研究[J]. 机车电传动, 2023(2): 113-122.

LIU Yiheng, ZHANG Hehong, LONG Zhiqiang, et al. Research on suspension control of maglev train via enhanced tracking differentiator[J]. Electric Drive for Locomotives,2023(2): 113-122.
刘怡恒, 张和洪, 龙志强, 等. 基于改进跟踪微分器的磁浮列车悬浮控制研究[J]. 机车电传动, 2023(2): 113-122. DOI： 10.13890/j.issn.1000-128X.2023.02.013.

LIU Yiheng, ZHANG Hehong, LONG Zhiqiang, et al. Research on suspension control of maglev train via enhanced tracking differentiator[J]. Electric Drive for Locomotives,2023(2): 113-122. DOI： 10.13890/j.issn.1000-128X.2023.02.013.

摘要

磁浮列车悬浮系统的间隙传感器信号存在大量量测噪声，影响了悬浮控制的控制品质与稳定性。为解决该问题，文章借助等时区的方法确定最速离散二阶系统的边界层，根据边界层与可达区构造无需复杂开根号运算的新型最速控制综合函数，同时通过微分预报补偿方式实现相位补偿，进而设计了基于新型跟踪微分器的悬浮反馈控制器。数值仿真表明，该跟踪微分器能够快速跟踪输入信号，具有良好的滤波效果，无颤振、无超调。通过磁浮列车实车测试，基于所提出的跟踪微分器的悬浮控制器能使起浮阶段的最大超调量减少约15%，实现磁浮列车的稳定悬浮控制，具有很强的工程实用性。

Abstract

A large amount of measurement noise exists in the gap sensor signals of the suspension system of maglev train

which affects the control quality and stability of the suspension system. To address this issue

the boundary curve of the second-order discrete time optimal control was determined by means of isochronous region

and a new form of discrete time optimal control function

without complicated square root operation

was constructed based on the boundary curve and the reachable region. The phase compensation was achieved by differential prediction compensation method. Then

the suspension controller based on the new tracking differentiator (TD) was designed. The numerical simulation shows that the TD can quickly track the input signal with favorable filtering effect

no chattering and overshoots. The experiments conducted on the maglev train platform demonstrate that the proposed suspension controller of TD can significantly reduce the maximum overshoots around 15% during the levitation of the train and achieve stable suspension control of the maglev train

indicating strong engineering practicability.

关键词

磁浮列车悬浮控制间隙信号跟踪微分器相位补偿仿真

Keywords

maglev trainsuspension controlgap signaltracking differentiatorphase compensationsimulation

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