永磁磁浮列车虚拟编组运行速度鲁棒控制方法  

Robust Speed Control Method for Virtual Coupling of Permanent Magnet Maglev Trains

作　　者：刘书云 杨杰[1,2] 秦耀 齐洪峰 邵福波 LIU Shu-yun;YANG Jie;QIN Yao;QI Hong-feng;SHAO Fu-bo(Institute of Permanent Maglev and Railway Technology,Jiangxi University of Science and Technology,Ganzhou 341000,China;Jiangxi Key Laboratory of Maglev Technology,Ganzhou 341000,China;CRRC Industrial Research Institute Co.,Ltd.,Beijing 100076,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]中车工业研究院有限公司,北京100076

出　　处：《稀土》2024年第1期76-86,共11页Chinese Rare Earths

基　　金：国家自然科学基金项目(62063009);江西省自然科学基金项目(20212BAB212004);江西省教育厅基金项目(GJJ200867)。

摘　　要：永磁磁浮是一种磁浮轨道交通新制式,可有效缓解城市交通拥堵。列车虚拟编组是提高轨道交通运营效率的重要前沿技术之一,研究永磁磁浮列车虚拟编组的速度鲁棒控制,对提高城市轨道交通运营安全和效率有重要意义。针对永磁磁浮列车虚拟编组模式下状态切换和自适应巡航过程中速度易受干扰、控制不稳定问题,对动态编组、自适应巡航、动态解编三个阶段进行分析,并采用分段控制策略,对列车虚拟编组三阶段进行状态切换;分析虚拟编组永磁磁浮列车组之间的数学关系,建立数学模型,采用模型预测控制算法对自适应巡航阶段速度进行协同控制,并在Matlab仿真环境下进行模拟。通过仿真验证了本文所提建模和控制方法的有效性,且模型预测控制方法鲁棒性能优于传统的PID控制算法,采用模型预测控制算法超调量减少了4.9%;同时,采用分段控制方法实现了虚拟编组三阶段状态平稳切换。实验结果表明相比传统的列车速度控制方法,本文方法在提升磁浮列车速度跟踪控制精确度和鲁棒性方面具有显著优势,证明了本文提出建模和控制方法的有效性和可行性。Permanent magnet maglev is a new maglev rail transit system that can effectively relieve urban traffic congestion.Virtual coupling is one of the important advanced technologies to improve the operation efficiency of rail transit.Research on robust control of virtual coupling of the speed of the permanent magnet maglev trains is of great significance for improving the safety and efficiency of urban rail transit.In order to solve the problem that the speed is easily disturbed and the control is unstable in the process of state switching and adaptive cruise in the virtual coupling mode of a permanent magnet maglev train,three stages of dynamic coupling,adaptive cruise,and dynamic uncoupling were analyzed,and the three stages of virtual coupling state switching were carried out by using the segmented control strategy.The mathematical relationship between the virtual coupling of permanent magnet maglev trains was analyzed,and the mathematical model was established.The model prediction robust control algorithm was used to carry out collaborative control of the adaptive cruise speed,and the simulation was carried out in the Matlab simulation environment.The simulation results demonstrate the effectiveness of the proposed modeling and control methods,and the model predictive robust control method is superior to the traditional PID control algorithm.The overshoot of the model predictive control algorithm is reduced by 4.9%.At the same time,the three-stage state switching of virtual coupling is realized by the subsection control method.Experimental results show that,compared with traditional train speed control methods,the proposed method has significant advantages in improving the accuracy and robustness of maglev train speed tracking control,which proves the effectiveness and feasibility of the modeling and control methods proposed in this paper.

关 键 词：磁浮列车 虚拟编组 模型预测控制 鲁棒控制 

分 类 号：U125[交通运输工程]