基于改进自抗扰控制器的磁浮列车速度跟踪控制研究

Design maglev train speed tracking system based on improved active disturbance rejection controller

磁浮列车的速度跟踪控制具有典型的非线性、大时滞、多约束等特点,制约磁浮列车在节能运行、智能驾驶和精准停车等方向的发展。针对磁浮列车的速度跟踪控制的大时滞问题,首先运用自抗扰控制理论,改进并分解控制器结构,推演分析其改进后的传递函数;其次,对控制系统结构进行了优化,并在低频域对控制系统进行传递函数等效;第三,基于等效传递函数,提出1阶惯性环节加时滞环节(First order plus time delay,FOPTD)模型;第四,基于FOPTD模型,提出改进自抗扰控制器的参数调整方法;最后,在Simulink仿真环境下,搭建了磁浮列车速度跟踪系统。验证了基于改进自抗扰控制器的列车速度跟踪系统对正弦信号的跟踪能力,并比较了其与基于其他2种控制器(常规自抗扰控制器、2自由度比例-积分-微分控制器)(Two-Degree-of-Freedom Proportion-Integral-Derivative Controller,2DOF-PID)的列车速度跟踪系统的抗阶跃扰动能力,同时,在具体算例中,对比了改进自抗扰控制器与常规自抗扰控制器、2DOF-PID跟踪目标速度曲线效果,并进行了误差分析。仿真结果表明:在相同路况条件下,相比于基于其他2种控制器的磁浮列车速度跟踪系统,本文设计的磁浮列车速度跟踪系统能够在不同路段精准跟踪目标速度曲线。该控制方法对其他运动控制问题的学术研究和工程应用也具有很好的参考价值。

The speed tracking control of maglev train has typical characteristics of nonlinearity,large time delay and multiple constraints.These characteristics restrict the development of maglev train in energy saving,intelligent driving and precise parking.In order to solve the large time delay of maglev train in speed tracking control.Firstly,the active disturbance rejection control theory was used to improve and decompose the controller structure,and then its improved transfer function was deduced and analyzed.Secondly,the structure of the control system was optimized,and the equivalent transformation of the transfer function in the control system was performed in low frequency domain.Thirdly,based on equivalent transfer function,the model of first order plus time delay(FOPTD)was proposed.Fourthly,based on FOPTD model,the parameter adjustment method of improved Active Disturbance Rejection Controller(ADRC)was proposed.Finally,the maglev train speed tracking system was built in the simulation environment.The sinusoidal signal tracking ability of the train speed tracking system based on the improved ADRC was verified.The step disturbance rejection ability of the train speed tracking system based on improved ADRC,conventional ADRC,and 2DOF-PID was compared.At the same time,in a specific example,the tracking effects of target velocity curve of improved ADRC,conventional ADRC and 2DOF-PID were compared,and the errors were analyzed.The simulation results show that under the same road conditions,compared with the maglev train speed tracking system based on the other two controllers,the maglev train speed tracking system designed in this paper based on the improved active disturbance rejection controller can accurately track the target speed curve in different road sections.The control method also has good reference value for other motion control problems in academic research and engineering applications.