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为了有效抑制磁悬浮车轨耦合振动,将车轨耦合振动系统简化为单铁-弹性轨道模型,利用状态观测器将轨道梁振动信息引入控制系统,设计了全状态反馈最优控制器,并基于dSPACE搭建了小比例弹性轨道梁磁悬浮耦合振动试验台。与传统控制方法进行了对比,发现所提出的控制方法能够在较小的轨道梁刚度与无阻尼条件下依然保持悬浮系统的稳定;阶跃响应的试验台测试结果表明,利用所设计的控制器,系统能够在0.3s进入稳定状态,超调量仅为4%。分析结果表明:所提出的控制方法能够有效抑制磁悬浮车轨耦合振动,在满足稳定悬浮的同时,降低了系统稳定性对轨道梁特性的过分依赖。
In order to effectively suppress the coupling vibration of the magnetic levitation vehicle, the coupling vibration system is simplified as single-rail-elastic model and the state observer is used to introduce the vibration information into the control system. The state-feedback optimal controller is designed and based on dSPACE Set up a small proportion of elastic track beam magnetic coupling vibration test bed. The results show that the proposed control method can keep the stability of the suspension system under the condition of smaller track beam stiffness and no damping. The test results of the step response test bench show that, with the designed controller , The system can enter a steady state in 0.3s, the overshoot is only 4%. The analysis results show that the proposed control method can effectively restrain the coupling vibration of the magnetic levitation vehicle and reduce the over dependence of the stability of the system on the characteristics of the track beam while satisfying the stable levitation.