DOI: 10.11908/j.issn.0253-374x.20103

作者:

作者单位: 1.同济大学 磁浮交通工程技术研究中心，上海 201804;2.同济大学 道路与交通工程教育部重点实验室，上海 201804;3.同济大学 交通运输工程学院，上海 201804


作者简介: 徐俊起（1977—)，男，高级工程师，工学博士，主要研究方向为磁浮车辆悬浮控制及车轨耦合动力学分析。E-mail: xujunqi@tongji.edu.cn


通讯作者: 林国斌（1964—)，男，研究员，博士生导师，工学硕士，主要研究方向为磁浮列车悬浮控制及牵引控制技术。E-mail: 12154@tongji.edu.cn

中图分类号: TP273


基金项目: “十三五”国家重点研发计划（2016YFB1200602）




Modeling and Control of Multi-point Levitation of Maglev Vehicle Under Loading Disturbance
Author:

Affiliation: 1.Maglev Transportation Engineering R&D Center, Tongji University, Shanghai 201804, China;2.Key Laboratory of Road and Traffic Engineering of the Ministry of Education, Tongji University, Shanghai 201804, China;3.College of Transportation, Tongji University, Shanghai 201804, China


Fund Project:




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摘要:以同济大学磁浮交通工程技术研究中心研制的低速磁浮车辆为研究对象，研究非线性时变扰动下多点悬浮的控制算法设计及优化问题。建立多点悬浮的非线性数学模型，并基于交叉耦合控制算法对各个悬浮点的输出误差进行补偿。与单点比例?积分?微分（PID）控制算法的比较结果表明，基于交叉耦合的反馈控制算法，能够克服以往基于假设完全解耦设计出的控制算法的不足，具有较高的控制精度和较强的鲁棒性。最后，通过试验验证负载扰动下交叉耦合反馈控制算法的有效性。



Abstract:Taking the low-speed maglev vehicle in Maglev Transportation Engineering R&D Center of Tongji University as the research object, the design and optimization of control algorithm for multi-point levitation under nonlinear time-varying disturbance is discussed in this paper. Firstly, the nonlinear mathematical model of multi-point levitation is established, and the output errors of each levitation point are compensated based on cross-coupling control algorithm. Compared with the single-point PID control algorithm, the feedback control algorithm based on cross-coupling can overcome the shortcomings of the previous control algorithm based on the hypothesis of complete decoupling and has high control accuracy and strong robustness. Finally, the effectiveness of the cross-coupling feedback control algorithm is verified by experiments.





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