基于伺服模型的受电弓LQR控制  

Research of LQR control of pantograph based on servo model

作　　者：时光[1] 陈忠华[1] 刘健辰[1] 赵春雨[1] 姜国强[1] 

机构地区：[1]辽宁工程技术大学电气与控制工程学院,葫芦岛125105

出　　处：《电子测量与仪器学报》2016年第7期1120-1126,共7页Journal of Electronic Measurement and Instrumentation

基　　金：国家自然科学基金(51477071);辽宁省教育厅一般项目(L2013130)资助

摘　　要：受电弓滑板与接触网导线间的接触力是衡量弓网系统受流质量的重要指标,为减小弓网接触力波动,针对弓网归算质量模型,建立弓网接触力的伺服控制模型,基于此,设计弓网接触力的线性二次型调节器。固定控制量加权矩阵,通过分析误差加权矩阵与接触力波动方差的关系得到合适的误差惩罚矩阵。为减小在线计算量,基于线性矩阵不等式采用增益规划法在多个操作时间点上得到定常的反馈增益矩阵并存储用于实时调用。仿真对比结果表明,基于伺服模型的受电弓线性二次型最优调节器能有效减小弓网接触力波动,改善弓网受流质量。The force between pantograph strip and contact wire is an important index to reflect the current quality of pantograph-catenary system. In order to reduce the force fluctuation of pantograph-catenary, the servo control model is built in the light of equivalent mass model of pantograph-catenary. Based on this, the linear quadratic regulator （LQR） is designed. Fixing the weighting matrix of control size, the proper integral error penalty matrix is obtained through the analysis of relationship between variance of force and error weighting matrix. In order to reduce online calculation amount, the gain scheduling method is used to get the gain values that are stored to be called real-timely at every operating points based on linear matrix inequality （LMI）. The comparison of simulation result shows that the LQR controller has good effect to reduce the fluctuation of force between pantograph and eatenary and can improve current collection quality of pantograph-eatenary.

关 键 词：接触力波动 伺服模型 线性二次型调节器 增益规划 线性矩阵不等式 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置] TN876.3[自动化与计算机技术—控制科学与工程]