基于滑模理论的城市轨道车辆稳定性自动化控制研究

Research on automatic control of urban rail vehicle stability based on sliding mode theory

针对磁悬浮车辆悬浮控制缺少同步协调、稳定性不足的问题,提出基于滑模理论并加入协同控制律的控制系统。对磁悬浮系统进行动力学分析,加入扰动观测器进行相应的扰动补偿,基于滑模理论设计出能够耦合同步协调的控制系统。通过实验与传统PID控制系统对比,结果表明,基于滑模理论的磁悬浮控制系统能够更好地避免电磁铁产生的耦合扰动,提高了车辆运行的稳定性。

Aiming at the problem of lack of synchronous coordination and insufficient stability of maglev vehicle suspension control in urban rail,a control method based on sliding mode theory and adding collaborative control law is proposed.Due to the rigid connection of the ipsilateral electromagnet in the magnetic levitation system,mechanical coupling disturbance is prone to occur,resulting in low stability.By analyzing the dynamics of the magnetic levitation system and adding the disturbance observer to make corresponding disturbance compensation,a control system that can be coupled and coordinated is designed based on the synovial theory.By comparing with the experimental comparison with PID control,the results show that the urban rail magnetic levitation control system based on sliding mode theory can better avoid the coupling disturbance generated by electromagnets and improve the stability of the vehicle.