中低速磁浮列车滑模自抗扰悬浮控制算法  

Sliding mode active disturbance rejection levitation control algorithm of the medium-and low-speed maglev vehicles

作　　者：陈萍 史天成 于明月 陈垟 史炎[4] CHEN Ping;SHI Tiancheng;YU Mingyue;CHEN Yang;SHI Yan(Civil Aviation College,Shenyang Aerospace University,Shenyang 110136,China;Liaoning General Aviation Academy,Shenyang 110136,China;School of Automation,Shenyang Aerospace University,Shenyang 110136,China;State Key Laboratory of Traction Power,Southwest Jiaotong University,Chengdu 610031,China)

机构地区：[1]沈阳航空航天大学民用航空学院,辽宁沈阳110136 [2]辽宁通用航空研究院,辽宁沈阳110136 [3]沈阳航空航天大学自动化学院,辽宁沈阳110136 [4]西南交通大学牵引动力国家重点实验室,四川成都610031

出　　处：《铁道科学与工程学报》2023年第2期682-693,共12页Journal of Railway Science and Engineering

基　　金：国家自然科学基金资助项目(51605309);辽宁省教育厅项目(JYT2020153);牵引动力国家重点实验室自主研究课题资助项目(2019TPL-14)。

摘　　要：由于磁浮列车各悬浮架相互独立,任何一个悬浮控制点产生故障将导致整个悬浮架向失效一侧倾斜,造成列车运行事故。为此提出一种滑模自抗扰的悬浮控制方案以进一步提升悬浮控制器的带宽、鲁棒性和容错性。在获取间隙数据时融合了电涡流传感器的低频数据和加速度传感器的高频数据,并加入有效性判断,将不同传感器性能互补。在控制器的输出项中增加加速度微分项以检测磁浮列车的向心加速度,避免悬浮架在坡道与竖曲线过渡处撞击轨道,但直接求解微分会使系统不稳定,所以采用最速控制综合函数实现列车加速度微分项的获取。自抗扰控制器中扩张状态观测器会采集悬浮间隙信号,并观测到悬浮架的悬浮间隙、悬浮架的垂向速度和悬浮电磁铁的电流值,即使在加速度传感器和电流传感器同时失效的情况下,磁浮列车依靠扩张状态观测器观测到的数据也能实现稳定悬浮。通过李雅普诺夫稳定性判据证明了滑模自抗扰悬浮控制算法稳定性,经过MATLAB/Simulink仿真和实车试验,验证了算法的可行性。该悬浮控制算法确保磁浮列车在运行过程中遇到多种传感器同时失效的情况下不失稳,将磁浮列车悬浮控制器用到的所有传感器特性发挥出来,最大程度保障列车上乘客的安全及车载设备的正常运行。Since each suspension frame of maglev train is independent from each other, the failure of any suspension control point would cause the whole suspension frame to tilt to the failure side, resulting in train operation accident. Therefore, a suspension control scheme based on sliding mode active disturbance rejection was proposed to improve the bandwidth, robustness, and fault tolerance of the suspension controller. When obtaining air gap data, the low frequency data of eddy current sensor and the high frequency data of acceleration sensor were fused, and validity judgment was added to complement the performance of different sensors. The acceleration differential term was added to the output term of the controller to detect the centralizing acceleration of maglev train, to avoid the suspension frame hitting the track at the transition between the ramp and the vertical curve. However, getting the differential term directly would make the system unstable;hence, a maximum speed control synthesis function was used to obtain the acceleration differential term of the train. Extended state observer in ADRC would acquire air gap data, then the suspension air gap of the suspension frame, the vertical velocity of the suspension frame and the current of the suspension electromagnet can be observed, even when acceleration sensor and the current sensor fail at the same time, the observed data can be used to make the maglev train stable suspension. The stability of the sliding mode active disturbance rejection levitation control algorithm was proved by Lyapunov stability criterion, and the feasibility of the algorithm was verified by MATLAB/Simulink simulation and real vehicle test. The levitation control algorithm ensures that the maglev train does not lose stability when multiple kinds of sensors fail at the same time in the process of running, and gives full play to the characteristics of all sensors used in maglev train levitation controller to ensure the safety of passengers on the train and the normal operation of onboard

关 键 词：磁浮列车 滑模控制 自抗扰控制 互补滤波 容错控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]