跨座式单轨弓网耦合鲁棒主动控制策略  

Robust Active Control Strategy for Straddle Monorail Pantograph-Catenary Coupling

作　　者：刘朝涛[1] 蓝立俊 杜子学[1] 杨震[1] LIU Chaotao;LAN Lijun;DU Zixue;YANG Zhen(School of Mechatronics&Vehicles Engineering,Chongqing Jiaotong University,Chongqing 400074,China)

机构地区：[1]重庆交通大学机电与车辆工程学院,重庆400074

出　　处：《机床与液压》2022年第13期26-31,共6页Machine Tool & Hydraulics

基　　金：城市轨道交通车辆系统集成与控制重庆市重点实验室开放课题基金项目(CKLURTSIC-KFKT-202003,CKLURTSIC-KFKT-202009)。

摘　　要：单轨列车在运行中,受电弓与接触网的刚性接触会产生振动,这会降低弓网的受流质量和寿命,为此提出了一种基于鲁棒H_(∞)控制器主动控制策略来改善弓网关系。针对单轨列车建立了弓网耦合二自由度动力学模型以及直流电机模型,在60和80 km/h的不同时速下,分析了被动控制和主动控制下接触力的大小,以及电机主动控制的响应时间。实验结果表明:该控制策略在60和80 km/h的速度下,接触力标准差分别降低了9%和8%;并且在高速运行下也能够满足接触力的调节要求,能够明显降低接触力波动,提高弓网的使用寿命。During the operation of monorail trains,the rigid contact between the pantograph and the catenary would cause vibration,which would reduce the quality and life of the pantograph and catenary.For this reason,an active control strategy based on a robust H_(∞) controller was proposedto improve pantograph-catenary relationship.A two-degree-of-freedom dynamic model of the pantograph-catenary coupling and a DC motor model were established for monorail trains.At different speeds of 60 km/h and 80 km/h,the magnitude of the contact force under passive control and active control and the response time controlled by active motor were analyzed.The experimental results show that the control strategy reduces the standard deviation of contact force by 9% and 8% at the speeds of 60 km/h and 80 km/h.It can also meet the adjustment requirements of contact force under high-speed operation,which can significantly reduce the contact force fluctuations and increase the service life of the pantograph-catenary.

关 键 词：弓网耦合系统 鲁棒主动控制 跨座式单轨 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]