负载扰动下磁浮车辆多点悬浮建模与控制

Modeling and Control of Multi-point Levitation of Maglev Vehicle Under Loading Disturbance

以同济大学磁浮交通工程技术研究中心研制的低速磁浮车辆为研究对象,研究非线性时变扰动下多点悬浮的控制算法设计及优化问题。建立多点悬浮的非线性数学模型,并基于交叉耦合控制算法对各个悬浮点的输出误差进行补偿。与单点比例‒积分‒微分(PID)控制算法的比较结果表明,基于交叉耦合的反馈控制算法,能够克服以往基于假设完全解耦设计出的控制算法的不足,具有较高的控制精度和较强的鲁棒性。最后,通过试验验证负载扰动下交叉耦合反馈控制算法的有效性。

Taking the low-speed maglev vehicle in Maglev Transportation Engineering R&D Center of Tongji University as the research object,the design and optimization of control algorithm for multi-point levitation under nonlinear time-varying disturbance is discussed in this paper.Firstly,the nonlinear mathematical model of multi-point levitation is established,and the output errors of each levitation point are compensated based on crosscoupling control algorithm.Compared with the singlepoint PID control algorithm,the feedback control algorithm based on cross-coupling can overcome the shortcomings of the previous control algorithm based on the hypothesis of complete decoupling and has high control accuracy and strong robustness.Finally,the effectiveness of the cross-coupling feedback control algorithm is verified by experiments.