ADRC参数自整定的永磁磁浮列车速度鲁棒控制  

Robust speed control of permanent magnet maglev trains with self-tuning of ADRC parameters

作　　者：刘鸿恩 邹吉强 杨杰[1,2,3] LIU Hongen;ZOU Jiqiang;YANG Jie(Institute of Permanent Magnetic Levitation Technology and Rail Transportation,Jiangxi University of Science and Technology,Ganzhou 341000,China;Key Laboratory of Maglev Technology of Jiangxi Province,Ganzhou 341000,China;Ganjiang Innovation Academy,Chinese Academy of Sciences,Ganzhou 341000,China;CRSC Research&Design Institute Group Co.,Ltd.,Beijing 100073,China)

机构地区：[1]江西理工大学永磁磁浮技术与轨道交通研究院,江西赣州341000 [2]江西省磁悬浮技术重点实验室,江西赣州341000 [3]中国科学院赣江创新研究院,江西赣州341000 [4]北京全路通信信号研究设计院集团有限公司,北京100073

出　　处：《铁道科学与工程学报》2023年第9期3500-3510,共11页Journal of Railway Science and Engineering

基　　金：国家自然科学基金资助项目(6206020610);江西省自然科学基金资助项目(20212BAB212004);江西省教育厅科技研究项目(GJJ200867);中国科学院赣江创新研究院科研项目(E255J001)。

摘　　要：永磁磁悬浮(Permanent Magnet Maglev,PMM)是继电磁悬浮和电动悬浮之后提出的一种磁悬浮轨道交通新制式,相对传统轮轨和磁悬浮轨道交通,具有低碳节能、建设成本低、工期短,选线灵活、占地少等优势,为我国构建绿色、智慧城市交通网络提供了一种理想方案。精确平稳的速度跟踪控制是PMM列车全自动驾驶运行过程安全高效的重要保障。在复杂静磁场力和多变环境因素干扰下,传统的列车速度控制方法难以实现PMM列车的精确平稳速度控制。为解决PMM列车在复杂干扰下智能驾驶过程的精确平稳速度跟踪控制问题,提出一种基于参数自整定ADRC的PMM列车速度跟踪鲁棒控制方法。首先建立PMM列车的纵向动力学模型,描述PMM列车运行控制过程的非线性迟滞特性。然后设计一种基于BP神经网络控制参数估计的自抗扰控制器(BP-ADRC),实现列车速度控制过程中ADRC扩张状态观测器的参数自适应调整。最后在Simulink仿真环境中进行PMM列车速度跟踪控制仿真实验,实验得出BP-ADRC控制器的速度跟踪精度比传统的BP-PID和ADRC控制器分别提高20.96%和16.66%,速度跟踪平稳性分别提高19.78%和16.69%。实验结果表明,相比传统的列车速度控制方法,BP-ADRC控制器在提升PMM列车速度跟踪控制精确度和鲁棒性方面具有显著优势,证明了该方法的有效性和可行性。The permanent magnet maglev(PMM)is a new type of magnetic suspension rail transportation proposed after electromagnetic suspension and electric suspension.Compared with the traditional rolling rail and magnetic suspension rail transportation,the PMM has significant advantages in low-carbon,energy saving,low construction costs,short construction periods,flexible line selection,less occupied land,etc.It provides an ideal solution for the construction of a green intelligent city traffic network in China.Accurate and reliable speed tracking control is an essential guarantee for the safe and efficient driving operation of the PMM train.Under the interference of complex static magnetic field force and variable environmental factors,it is difficult to achieve accurate and stable speed control of PMM trains.In this paper,a robust speed tracking control method of PMM train was proposed based on ADRC with parameter self-tuning strategy,so as to solve the problem of accurate and stable tracking control of the smart driving process under the complex interference of PMM trains.First,the vertical dynamic model of the PMM train was established to effectively describe the nonlinear lag characteristics of the PMM train operation control process.Then,a self-tuning ADRC controller(BP-ADRC)was proposed through parameter estimation based on BP neural network,which achieved parameters adapt adjustment of the ADRC expansion state observer during the train speed control process.Finally,the PMM train speed tracking control simulation experiments were performed in Simulink.Experimental data analysis shows that the speedtracking accuracy of the BP-ADRC controller proposed in this article increased by 20.96%and 16.66%,respectively,while speed-tracking stability increased by 19.78%and 16.69%,respectively.The experimental results show that compared with the traditional train speed control method,the proposed BP-ADRC controller has a significant advantage in improving the accuracy and robustness of the PMM train speed tracking control.The resu

关 键 词：磁浮列车 速度跟踪控制 BP-ADRC控制器 参数自整定 

分 类 号：U125[交通运输工程]