含时滞电磁悬浮系统的Smith预估线性自抗扰控制研究  

Study on Smith Predictive Linear Active Disturbance Rejection Control of the Electromagnetic Levitation System with Time Delays

作　　者：万成麒 冯洋 赵春发[1] 舒瑶 和风 Wan Chengqi;Feng Yang;Zhao Chunfa;Shu Yao;He Feng(State Key Laboratory of Rail Transit Vehicle System,Chengdu 610031,China;CRRC Zhuzhou Locomotive Co.,Ltd.,Zhuzhou 412001,China)

机构地区：[1]西南交通大学轨道交通运载系统全国重点实验室,成都610031 [2]中车株洲电力机车有限公司,株洲412001

出　　处：《动力学与控制学报》2024年第11期47-57,共11页Journal of Dynamics and Control

基　　金：国家自然科学基金项目(52172375);国家资助博士后研究人员计划(GZB20230612);轨道交通运载系统全国重点实验室自主研究课题(2023TPL-T01);高速磁浮运载技术全国重点实验室开放课题(SKLM-SFCF-2023-012);湖南省科技创新计划项目(2020GK2084)。

摘　　要：主动电磁悬浮系统中的时滞显著影响磁浮列车运行稳定性和乘坐舒适性,是电磁悬浮型磁浮列车提速改造需要重点关注的问题.采用Smith预估器对电磁悬浮系统的时滞进行补偿,同时引入线性自抗扰控制器(LADRC),将预估时滞与实际时滞的误差作为内部扰动进行估计和补偿,提出了具有时滞补偿和自抗扰功能的Smith-LADRC悬浮控制方法.然后,开展磁浮车辆垂向动力学仿真分析,比较了采用PID、LADRC、Smith-PID和Smith-LADRC控制算法时磁浮车辆稳定悬浮的时滞阈值,验证了Smith-LADRC悬浮控制器具有更强的时滞补偿能力和抗干扰能力.最后,研究了Smith-LADRC悬浮控制器参数对磁浮车辆动力学性能的影响,综合权衡时滞稳定裕度和悬浮间隙波动幅值,给出了LADRC控制器带宽、观测器带宽和控制器增益的优选范围.Time delays(TDs)in the active electromagnetic levitation system significantly affect the running stability and ride comfort of Maglev trains,so it is a critical issue for the technical reform of the speed-up electromagnetically suspended Maglev trains.In this paper,a Smith predictor is employed to compensate for the TD in the electromagnetic levitation system.Simultaneously,a linear active disturbance rejection controller(LADRC)is introduced to estimate and compensate for the errors between the predicted TD and actual TDs as internal disturbances.In this way,we developed a Smith-LADRC levitation controller with the time-delay compensation and active disturbance rejection capabilities.Subsequently,vertical dynamic response of maglev vehicles adopting respectively PID,LADRC,Smith-PID,and Smith-LADRC control algorithm are simulated,and the TD thresholds for stable levitation are compared.The results confirm that the Smith-LADRC levitation controller exhibits the stronger time-delay compensation and anti-disturbance capabilities.Finally,the influence of Smith-LADRC controller parameters on dynamic performances of maglev vehicle is investigated.By balancing the TD stability margin and the fluctuation amplitude of levitation gap,optimal ranges for the controller bandwidth,the observer bandwidth and the controller gain of LADRC are presented.

关 键 词：磁浮列车 电磁悬浮 时滞系统 SMITH预估器 自抗扰控制 

分 类 号：U237[交通运输工程—道路与铁道工程] TP273[自动化与计算机技术—检测技术与自动化装置]