基于负载扰动解耦的磁浮列车非线性控制器设计

Design of Nonlinear Controller for Maglev Train Based on Load Disturbance Decoupling

悬浮系统控制技术是磁浮列车的关键技术之一。首先建立悬浮系统的非线性模型。针对磁浮列车模型参数变化主要来自负载扰动,结合非线性系统解耦控制方法,设计一种基于负载扰动解耦的非线性控制器,并根据控制器的要求设计了质量观测器,实现控制器的输出与负载扰动解耦。仿真结果表明,解耦控制器能够消除了负载扰动对悬浮系统的影响,具有很好的适应性和鲁棒性。

The technology of magnetic suspension control is one of the key technologies of maglev train. The nonlinear model of suspension system was made. Aiming at the change of maglev suspension system＇s parameters caused by load disturbance, a nonlinear controller was designed based on the theory of nonlinear disturbance decoupling. And a quality observer was designed based on the requirement of the controller The output of controller and load disturbance was decoupled by controller. The simulation results show that the controller attenuates the load disturbance＇s effect on the output of suspension system and has good robustness and adaptability.