车轨系统多重振动下的高精度自抗扰悬浮控制  

Active Disturbance Rejection Suspension Control with High Precision under Multiple Vibrations of Vehicle-guideway Systems

作　　者：李海涛 黄超 乔存存 陈森 窦晓亮 LI Haitao;HUANG Chao;QIAO Cuncun;CHEN Sen;DOU Xiaoliang(State Key Laboratory of High-speed Maglev Transportation Technology,CRRC Qingdao Sifang Co.,Ltd.,Qingdao 266000,China;School of Mathematics and Statistics,Shaanxi Normal University,Xi’an 710119,China)

机构地区：[1]中车青岛四方机车车辆股份有限公司高速磁浮运载技术全国重点实验室,青岛266000 [2]陕西师范大学数学与统计学院,西安710119

出　　处：《指挥与控制学报》2024年第5期551-560,共10页Journal of Command and Control

基　　金：国家自然科学基金(U22B6001,62003202);中泰轨道车辆悬吊部件减振技术联合研究及技术培训(KY202204005);陕西省科协青年人才托举计划项目(20230513);陕西省自然科学基础研究计划项目(2023-JC-YB-055)资助。

摘　　要：针对常导磁浮列车的高精度悬浮控制问题,考虑悬浮电磁铁、悬浮架、车体的弹性连接结构以及含有高阶振动分量的桥梁动力学,建立车轨耦合垂向运动模型。分析从输入电压到悬浮间隙的积分器串联系统结构,给出悬浮自抗扰控制设计。同时,采用悬浮电磁铁加速度反馈设计,加快列车各部分垂向加速度振荡的衰减速度,提升舒适性。针对所提方法,给出闭环稳定性结果。针对轨道周期扰动、参数摄动情况,进行仿真验证。The high-precision suspension control problem of EMS maglev trains is studied.Firstly,considering the elastic connected structure of the suspension electromagnet,suspension frame,and vehicle body,as well as the bridge dynamics containing high-order vibration components,a trail coupled vertical motion model is es-tablished.Then,the integrators serial system structure from input voltage to suspension gap is analyzed and an active disturbance rejection suspension control design is proposed.Meanwhile,the acceleration feedback de-sign of suspension electromagnetic is adopted to increase the attenuation speed of vertical acceleration oscilla-tions in various parts of the train,the comfort is enhanced.The closed-loop stability results are provided for the proposed method.Finally,simulation verification is conducted for periodic disturbances and parameter perturbations of rails.

关 键 词：高速磁浮列车 悬浮控制 自抗扰控制 扰动 舒适性 

分 类 号：U266.4[机械工程—车辆工程] U284.48[交通运输工程—载运工具运用工程]