高速磁浮列车主动悬浮与导向的2-DOF控制  

2-DOF Control of Active Levitation and Guidance in High-Speed Maglev Train

作　　者：朴明伟 梁世宽[2] 薛世海[2] 兆文忠 

机构地区：[1]大连交通学院机械工程学院,辽宁大连116028 [2]长春轨道客车股份有限公司,吉林长春130024

出　　处：《中国铁道科学》2006年第4期80-85,共6页China Railway Science

基　　金：国家"八六三"计划项目(2004AA505240)

摘　　要：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。To satisfy the stability requirements of dynamics and control system in high-speed maglev train, the 2-DOF control solution of active levitation and guidance was presented. From the analysis on vehicle dynamics and control, the main stability influential factors of active control electro-magnetic suspension are system stiffness, non-structural perturbation and modal trimming error, in which non-structural perturbation is dependent on the railway geometric feature and the dynamics and control system stiffness. With the collaborative platform based on ADAMS and MATLAB, the design methodology of LQG controllers is proposed for the single-rail orthogonal model to be levitated and guided automatically. In the contrasts of simulation analyses, it is shown that the 1-DOF active control is sensitive to the pitch and yaw perturbations, but the 2-DOF active control is able to be adaptive to the high-speed running on the horizontal and vertical curves. In the 400 km · h^-1 running simulation of single-levitation-bogie dynamical model on the curve railway, the stability robustness of the 2-DOF active controllers is validated synthetically.

关 键 词：高速磁浮列车 主动控制 多体动力学 鲁棒稳定性 

分 类 号：U266.4[机械工程—车辆工程]