磁浮直线感应电机的PI自适应电流可变转差频率鲁棒控制

Variant Current Variable Slip-Frequency Robust Adaptive Control for Single-sided Linear Induction Motors Used in Maglev Transportation

单边直线感应电机(Single-sided Linear Induction Motors,SLIMs)作为中低速磁悬浮列车的驱动装置,其推力和法向力的耦合控制特性以及系统的抗扰动能力,对于磁浮列车的牵引及悬浮系统动态运行极为重要。本文分别建立SLIM的最大推力点和法向力过零点的转差频率-电流控制模型,研究了将两者协同优化控制的变电流分段变转差频率(Variant-Current Variable Slip-Frequency,VCVSF)策略。建立了在稳态转差频率下的法向力控制电流与悬浮气隙的二维状态空间Popov超稳定模型,通过在线性环节增加前馈补偿器保证等价反馈系统严格正实,从而实现零点处法向力稳态振动的自收敛。实验研究验证了本文所提控制算法的有效性。

Single-sided linear induction motors(SLIMs) have been broadly used as propulsion devices in medium and low speed range maglev trains. Many scholars are focusing on the thrust and normal force characteristics of SLIM in order to obtain its excellent control performance and anti-interference ability, and their researches are also extremely important for high efficiency and stability control of maglev train's traction and suspension system. In the premise of dynamic operating condition of SLIM, this paper respectively discusses the optimum thrust slip-frequency calculation method based on linear motor T-type equivalent circuit model(T-ECM), and the minimum normal forece slip-frequency calculation method based on multilayer general travelling wave electromagnetic modle. Then, a variant-current and variable slip-frequency(VCVSF) robust adaptive control strategy for SLIM is presented, and the normal force can be asymptomaticlly converged at suspending state if the system nonlinear state space equation is designed to be Popov-stable. Experimental results verify the validity of proposed control algorithm, and show that the thrust and normal force characteristic of SLIM can be detailed.