低速磁浮列车磁悬浮系统仿真平台设计与控制  

Simulation platform design and control research for magnetic suspension systems of low-speed maglev train

作　　者：孙友刚[1,2] 谢久明[3] 徐俊起[2] 强海燕[1,2] SUN You-gang;XIE Jiu-ming;XU Jun-qi;QIANG Hai-yan(College of Logistics Engineering, Shanghai Maritime University, Shanghai 201306;Mechanical and Material College, Tianjin Sino-German University of Applied Seienees,Tianjin 300350;National Maglev Transportation Engineering R＆D Center, Tongji University, Shanghai 201804)

机构地区：[1]上海海事大学物流工程学院,上海201306 [2]同济大学国家磁浮交通工程技术研究中心,上海201804 [3]天津中德应用技术大学机械与材料学院,天津300350

出　　处：《机械设计》2018年第5期14-19,共6页Journal of Machine Design

基　　金：国家科技支撑计划资助项目(2013BAG19B00-01); 天津市科技计划资助项目(17ZLZDZF00120)

摘　　要：低速磁浮列车采用电磁型(EMS)悬浮控制系统。由于系统的本质非线性和开环不稳定,使控制系统的设计成为磁浮交通的关键技术。文中首先建立了磁悬浮系统非线性动力学模型,并搭建了磁悬浮系统仿真平台,该平台可用于控制策略的设计与验证。然后利用线性化模型,设计了带有加速度反馈的PD控制律。通过仿真平台中非线性模型的仿真结果,优化了控制器结构和参数。最后通过整车试验验证了所设计的控制系统的有效性。The electromagnetic suspension（EMS） control system is adopted by the low-speed maglev train. Owing to nonlinearity of the system and the instability of the open loop, the control system design has become key technology for maglev transportation. Firstly, a nonlinear mathematical model for the maglev train was established. Secondly, a simulation platform was built for the maglev system which was used to design and test of the control strategy. Then, a linearized model was utilized to design the PD control law with acceleration feedback. The structure and parameters of the controller were optimized by the simulation of nonlinear model. Finally, the effectiveness of the designed control system was testified by the maglev train test.

关 键 词：低速磁浮列车 非线性动力学 仿真平台 磁悬浮系统 整车试验 

分 类 号：TH122[机械工程—机械设计及理论]