磁浮系统多控制器动态解耦特性仿真研究  

Dynamic Uncoupling Capability Simulation of Multi-Controllers Maglev System

作　　者：施晓红[1] 佘龙华[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073

出　　处：《系统仿真学报》2006年第7期1954-1957,1961,共5页Journal of System Simulation

基　　金：湖南省自然科学基金(03JJY3108)

摘　　要：通过建立带有多个悬浮控制器的高速磁悬浮列车系统模型并对其进行动态响应分析,研究多个串级PID控制器协同工作条件下弹性悬浮架的动态解耦性能是否满足系统稳定要求。建立了复杂悬浮架有限元模型,利用模态综合动力凝聚超单元方法生成较低维数的悬浮架动力学模型。离线设计单个串级PID控制算法并给出了稳定参数选择方法,并由此建立多控制器磁悬浮耦合系统模型。使用四阶龙格-库塔算法对系统模型进行仿真计算,绘制了各个悬浮控制器先后悬浮以及悬浮间隙谐波干扰两种情况下各控制器的悬浮间隙动态响应曲线。结果证明悬浮架具有一定的动态解耦能力,但是只能保证鲁棒性较强的单控制器参数能够直接应用于多控制器协同工况。To study the dynamic uncoupling capacity of the elastic suspension chassis when the multi-controllers were simultaneity running, the model of the high speed EMS maglev system was established which has several cascade PID controllers and the dynamic response of this model was analyzed. The finite element method was applied to model the complex suspension chassis and the component mode synthesis superelement theory was applied to reduce the dimension of the chassis dynamic model. The cascade PID controller was designed off-line, and how to choose the stable control parameters was introduced. Then the whole multi-controller maglev coupling system model was given. The simulation calculation was implemented by four-step Runge-Kutta algorithm. The suspending gap dynamic response curves were given in two instances： one was the four controller suspends orderly, the other was the gap was disturbed by harmonic. The result proves that the elastic chassis has limited uncoupling ability, and only the robust parameters of single controller can be directly applied to multi-controller cooperating control.

关 键 词：磁悬浮 弹性悬浮架 超单元 模态综合 串级PID控制 

分 类 号：U237[交通运输工程—道路与铁道工程]