磁浮列车搭接结构的非线性解耦控制

Nonlinear decoupling control of the join-structure in a maglev train

磁浮列车的搭接结构是一个多输入多输出的非线性系统,对该系统进行稳定控制是确保磁浮列车可靠性的关键.本文采用微分几何方法对系统解耦;采用反馈线性化方法对解耦后的系统进行线性化,确保了系统的全局稳定性;对线性化之后的系统采用极点配置的方法进行控制律设计,使系统的动态性能达到一定的指标;最后给出了应用此方法的一个实际例子.

The join-structure of maglev train is a multiple-input and multiple-output（MIMO） nonlinear system; the smooth control of which plays an important role in the reliability of the maglev train. The system is decoupled by using the differential geometry theory. The decoupled system is then finearized through feedback linearization method, which ensures the global stability of the system. In order to guarantee the dynamic property of the system, the pole-displacement method is applied to the decoupled and linearized system. Finally, an example is given to illustrate the control approach.