基于补偿反馈线性化的悬浮控制器设计  

Design of the Suspension Controller Based on Compensated Feedback Linearization

作　　者：崔鹏[1] 李杰[1] 张锟[1] 

机构地区：[1]国防科技大学磁悬浮工程技术研究中心,湖南长沙410073

出　　处：《铁道学报》2010年第2期37-40,共4页Journal of the China Railway Society

基　　金：国家自然科学基金资助项目(60404003);国家科技支撑计划项目(2006BAG02B05-04)

摘　　要：电磁型磁浮列车的悬浮系统为典型的非线性系统,经常受到外界扰动影响而失去稳定。针对悬浮系统的这种特点,设计一种干扰补偿的非线性悬浮控制器:在合理假设的基础上,建立EMS型磁浮列车悬浮系统的非线性数学模型;通过反馈线性化将该非线性模型精确线性化,得到等价的线性模型。然后,设计将反馈线性化补偿与扩张状态观测器相结合的悬浮控制器,利用外部扰动观测值对悬浮系统进行补偿。这一设计可大幅度提高悬浮系统的抗干扰能力。仿真实验结果表明,该控制器的控制性能明显优于基于反馈线性化方法设计的控制器,对干扰具有更强的鲁棒性。The technology of magnetic suspension control is one of the key technologies of the maglev train.The magnetic suspension system is a typical nonlinear system and loses stability because of external disturbance.Aiming at this characteristic of the magnetic suspension system,a nonlinear controller based on disturbance compensation was designed.Firstly a nonlinear mathematical model of the magnetic suspension system was derived under some reasonable assumptions.Then the model was linearized exactly by means of feedback linearization,and an equivalent linear model was developed.Finally,a compensated feedback linearization suspension controller was designed based on the idea of the extended state observer.The external disturbance was observed by the controller and fed back to the feedback linearization model.The results of simulation and experiment show that the controller works better than the controller based on feedback linearization and has better robustness against disturbance.

关 键 词：悬浮系统 反馈线性化 扩张状态观测器 补偿 仿真 

分 类 号：U237[交通运输工程—道路与铁道工程] TP13[自动化与计算机技术—控制理论与控制工程]