奇异摄动磁悬浮车轨耦合系统的精确积分流形控制设计

The Design of Exact Integral Manifold Controller for Singular Perturbation Maglev Vehicle-Guideway Coupling System

针对具有奇异摄动特性的磁悬浮车轨耦合系统,利用几何方法设计了能够精确跟踪设计流形的复合控制算法。给出了基于弹性轨道的磁悬浮车轨耦合系统模型,说明电磁线圈电感导致的系统奇异摄动特性。介绍了精确设计流形算法的具体步骤,并以线性流形为例,给出了基于快慢结合的磁悬浮车轨耦合系统复合控制算法的设计过程。仿真结果说明该算法能够保证系统慢流形最终无误差跟踪线性设计流形,并实现车辆结构与轨道的单向解耦。该算法可以进一步推广到其他各种设计流形,从而提高磁悬浮系统的稳定性与抗干扰性。

The complex control arithmetic, which is able to exactly trace the designed manifold is proposed for the singular perturbative maglev vehicle-guideway coupling system by using the geometrical method. The maglev coupling system is modeled based on the elastic guideway, and the singular perturbation characteristic induced by the inductance of the electro-magnetic coil is introduced. The paper also describes the step of the complex control arithmetic plan. By taking the linear designed manifold as an example, the paper gives the process of maglev vehicle-guideway coupling control arithmetic design, which combines fast and slow control. The simulation shows that the arithmetic can insure the slow manifold linearly tracing against error and the unilateral decoupling control of the vehicle structure and guideway is accordingly realized. The arithmetic will also be generalized to other designed manifold, so the stability and anti-disturbance ability will be improved.