磁浮系统车轨解耦控制研究

On the Decoupling Control of the Maglev System

为实现弹性轨道磁浮系统的车轨耦合振动问题,寻求解耦控制规律,尝试了坐标变换解耦和反馈解耦两种解耦方法。通过计算车轨耦合五阶模型的李代数,得到了李代数满秩的结论,表明五阶模型是一个车轨强耦合的系统,仅通过坐标变换系统无法解耦。根据建立刚性和弹性轨道磁浮系统模型,经过对比分析,设计了改进的双环PID算法,通过反馈合适的状态变量,能够对车轨耦合振动系统顺利解耦,实现稳定控制。考虑到实际情况,对反馈所需的状态信号的获取也进行了具体的分析。

To realize the maglev train and guideway decoupling and search for the maglev suspension decoupling control law,two decoupling methods reference frame transform and feedback control are attempted.Through computing the rank of Lie algebra of the 5 order maglev train and guideway coupling mathematic model,the conclusion is obtained that the Lie algebra rank of the model is full,so the system is a strong coupling one,only by the reference frame transform can not be decoupled.Contrast the rigid and spring magle...