磁浮列车悬浮力的公式优化及悬浮系统的建模与实验  

Optimization of Suspension Force Formula and Modeling and Experiment of Suspension System in Maglev Train

作　　者：杨清 朱晔晖 王连春 陈强[1] 李杰[1] 迟振祥 YANG Qing;ZHU Yehui;WANG Lianchun;CHEN Qiang;LI Jie;CHI Zhenxiang(College of Intelligence Science and Technology,National University of Defense Technology,Changsha,410073,China;Northwest Institute of Nuclear Technology,Xi'an,710024,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073 [2]西北核技术研究所,西安710024

出　　处：《机械科学与技术》2024年第8期1341-1349,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研究开发项目(2016YFB1200601);悬浮系统方案及仿真(202050KG0023);智能科学学院青年教师创新研究项目(ZN2019-009)。

摘　　要：EMS (Electro-magnetic suspension)型中低速磁浮列车的悬浮系统在建模过程中,通常利用泰勒公式将悬浮力在平衡点处线性化。线性化后的近似悬浮力公式与标称悬浮力公式之间存在一定的误差。本文将该误差作为一种不确定性进行研究,由此得到了新的悬浮力公式并创新性地构建了具有不确定性的悬浮系统模型。随后,利用所建立的模型设计了一个基于广义内模控制算法的悬浮控制器,并在悬浮系统的单转向架平台上进行了抗干扰能力测试和过台阶能力测试。实验结果表明在本文所提出的悬浮控制器作用下,系统具有良好的悬浮性能和鲁棒性。In the process of modeling the suspension system of the EMS(Electro-Magnetic Suspension)medium-and-low-speed maglev train,the Taylor Formula is usually used to linearize the suspension force formula at the equilibrium point.There is a certain error between the linearized approximate suspension force formula and the nominal suspension force formula.This error is modeled as a kind of uncertainty to study and a new suspension force formula is obtained.Furthermore,a model for suspension system with uncertainty is creatively constructed.Then,based on the established model,a suspension controller with the GIMC(Generalized internal model control)algorithm is designed,and the anti-disturbances ability and rail-step passing ability experiments are carried out on the single bogie platform of the suspension system.The experimental results show that the system has good performance and robustness under the action of the present suspension controller.

关 键 词：不确定性 控制器设计 广义内模控制 磁浮列车 悬浮系统 

分 类 号：U292.917[交通运输工程—交通运输规划与管理]