基于扩张状态观测器的钢轨打磨气动加载力反馈线性化控制  

Research on Feedback Linearization Control of Pneumatic Loading Force for the Rail Grinding Based on Extended State Observer

作　　者：聂蒙[1] 李建勇[1] 沈海阔[1] 刘月明[1] 

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《应用基础与工程科学学报》2016年第2期418-428,共11页Journal of Basic Science and Engineering

基　　金：中央高校基本科研业务费(M16JB00210)

摘　　要：针对于钢轨打磨作业过程中的恒定加载力控制问题,本文从钢轨打磨气动加载力控制系统研究入手,提出一种基于扩张状态观测器的气动加载力反馈线性化控制方法.该方法利用扩张状态观测器获取实际打磨作业过程中无法直接获取的反馈量,同时将扩张状态观测器与反馈线性化控制器相结合使原本非线性的系统转化为一阶微分线性系统,最终达到提高系统控制性能的目的.实验结果表明,所提出的控制方法能够有效提高钢轨打磨作业过程中气动加载力的控制精度与稳定性.The problem of constant force control during the rail grinding process is a key study point of the rail grinding control technology. This paper proposes a method of aerodynamic loading feedback linearization control,which based on extended state observer by the mechanism of the rail grinding aerodynamic loading. This method can improve system control performance by using the extended state observer to obtain the feedback which can not obtained directly in the actual grinding process,and combining the extended state observer with the feedback linearization controller to transform the original nonlinear system to the Linear differential system. Experimental results illustrate that the control method proposed in this paper can effectively improve the control precision and stability of pneumatic loading force during the rail grinding process.

关 键 词：钢轨打磨 气动加载力 磨削力控制 反馈线性化控制 状态观测器 

分 类 号：U216.65[交通运输工程—道路与铁道工程]