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EMS型磁浮列车高速运行时由于车轨相互耦合,使悬浮系统的动力学行为变得复杂,影响车辆安全性、舒适性。为提高系统的鲁棒性,提出了一种基于逆系统理论的非线性悬浮控制器设计方法。首先,建立了EMS型磁浮列车的单磁铁非线性动力学模型。然后,讨论了基于逆系统的非线性反馈控制方法在悬浮控制器设计中的运用,通过系统伪线性化及系统综合,设计出了基于逆系统反馈线性化和鲁棒伺服控制的组合控制器。数值仿真验证了逆系统控制方法的有效性。
When EMS-type maglev train runs at high speed, the dynamic behavior of the suspension system becomes complicated due to the mutual coupling of the rails, which affects the safety and comfort of the vehicle. In order to improve the robustness of the system, a nonlinear suspension controller design method based on inverse system theory is proposed. First of all, the single-magnet nonlinear dynamics model of EMS-type maglev train is established. Then, the application of the inverse feedback control method based on the inverse system in the design of the suspension controller is discussed. The combination controller based on inverse system feedback linearization and robust servo control is designed through the system pseudo-linearization and system synthesis. Numerical simulation verifies the effectiveness of the inverse system control method.