摘要
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.
作者
徐俊起
林国斌
陈琛
荣立军
吉文
XU Junqi;LIN Guobin;CHEN Chen;RONG Lijun;JI Wen(Maglev Transportation Engineering R&D Center,Tongji University,Shanghai 201804,China;Key Laboratory of Road and Traffic Engineering of the Ministry of Education,Tongji University,Shanghai 201804,China;College of Transportation,Tongji University,Shanghai 201804,China)
出处
《同济大学学报(自然科学版)》
EI
CAS
CSCD
北大核心
2020年第9期1353-1363,共11页
Journal of Tongji University:Natural Science
基金
“十三五”国家重点研发计划(2016YFB1200602)。
关键词
磁浮列车
多点悬浮
负载扰动
交叉耦合
maglev train
multi-point levitation
loading disturbance
cross coupling