高速列车非线性空气悬架自适应反步控制研究

Study on Adaptive Backstepping Control of Nonlinear Air Suspension in High-speed Trains

悬架系统是高速列车的重要组成部分之一。针对高速列车空气悬架的非线性特性,以空气弹簧的实验为基础,依据实验数据建立非线性模型。进而在所建模型的基础上考虑系统参数的不确定性以及外部扰动进行自适应反步控制。仿真结果表明:建立的控制器在非线性的模型中不仅能够克服参数不确定性的问题,使系统具有更强的鲁棒性,还可以解决系统扰动带来的影响,使车体在不同速度的运行中,都能够保持较低的振动,从而提高高速列车运行的平顺性和舒适性。

Suspension system is an important part of high-speed trains.Aiming at the nonlinear characteristics of the air suspension of high-speed trains,a nonlinear model is established based on the experimental data of the air spring.Then,the system parameter uncertainty and external disturbance are considered to carry out the adaptive backstepping control.Simulation results show that the established controller can not only overcome the problem of parameter uncertainty in the nonlinear model,but also make the system more robust.What’s more,it can reduce the influence of system disturbance,so that the vehicle body can keep low vibration in the operation at different speeds,and the smoothness and comfort of the high-speed train operation is improved.