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为了满足高速磁浮列车动力学与控制系统稳定的要求,提出主动悬浮与导向的2-DOF控制解决方案。从车辆动力学与控制角度分析,电磁悬挂主动控制稳定的主要影响因素是系统刚度、非结构摄动和模态截取误差,其中非结构摄动程度取决于轨道几何变化和动力学与控制系统的刚度;利用ADAMS与MATLAB协同平台,提出基于单轨正交模型的主动悬浮与导向LQG控制器设计方法。对比仿真表明:1-DOF主动悬浮控制对点头和摇头摄动敏感,而2-DOF主动控制则能够适应竖曲线和平曲线轨道高速运行。在400 km.h-1单转向架模型曲线轨道运行仿真中,2-DOF主动控制的鲁棒稳定性得到了综合验证。
In order to meet the requirements of high-speed maglev train dynamics and control system stability, a 2-DOF control solution of active levitation and steering is proposed. From the perspective of vehicle dynamics and control, the main factors affecting the stability of active control of electromagnetic suspension are system stiffness, unstructured perturbations and modal interception errors. The degree of unstructured perturbation depends on the orbital geometry and dynamics and the control system Stiffness. Based on the collaborative platform of ADAMS and MATLAB, an active suspension and guidance LQG controller design method based on monorail orthogonal model is proposed. The simulation results show that 1-DOF active suspension control is sensitive to nodding and shaking head shaking, while 2-DOF active control can adapt to vertical curve and flat curve orbit high speed operation. The robust stability of 2-DOF active control is verified comprehensively in the 400 km.h-1 single-bogie model orbit simulation.