状态观测器参数对磁浮车辆悬浮稳定性影响的仿真研究
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摘要
为研究磁浮车辆悬浮控制器的状态观测器参数对悬浮稳定性的影响,解决磁浮车辆悬浮不稳的问题,建立单电磁铁与柔性轨道梁的耦合模型。通过对悬浮系统传递函数的研究,得到速度激励信号频率与悬浮系统对轨道梁的功率输出的关系曲线,并得到状态观测器参数对系统性能的影响规律。由此得出结论,通过绘制"悬浮系统对轨道梁的振动能量输出功率"与"轨道梁主频率"间的关系曲线,即可得到不考虑轨道梁阻尼时,悬浮系统可适应轨道的临界参数。
In order to solve problems of suspension instability of maglev vehicles, a coupling model of single-electromagnets and flexible track-beams was established to study on how parameters of state observers of suspension controllers affect the suspension stability of maglev vehicles. Researches about the transfer function of suspension systems were conducted and gotten some impressive results, such as curves that plot the relationship between the frequency of speed excitation signals and the power output of the suspension system to track-beams,influence rules that parameters of state observers affect system performance of maglev vehicles and so on. Based on the study about the change rule of state-space model of the coupling system, a conclusion is drawn that it is possible to analysis critical parameters of track-beams, which suspension system can be adapted to.
In order to solve problems of suspension instability of maglev vehicles, a coupling model of single-electromagnets and flexible track-beams was established to study on how parameters of state observers of suspension controllers affect the suspension stability of maglev vehicles. Researches about the transfer function of suspension systems were conducted and gotten some impressive results, such as curves that plot the relationship between the frequency of speed excitation signals and the power output of the suspension system to track-beams,influence rules that parameters of state observers affect system performance of maglev vehicles and so on. Based on the study about the change rule of state-space model of the coupling system, a conclusion is drawn that it is possible to analysis critical parameters of track-beams, which suspension system can be adapted to.
引文
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[2]CHENG Hu,CHEN Shuwen,LI Yungang.Research on vehicle-coupled-guideway vibration in hybrid maglev system[C]//International Conference on Measuring Technology and Mechatronics Automation.IEEE,Zhangjiajie,China,2009:715-718.
[3]ZHOU Danfeng,Hansen C H,LI Jie,et al.Review of coupled vibration problems in EMS maglev vehicles[J].International Journal of Acoustics&Vibrations,2010,15(1):10-23.
[4]Gottzein E,Brock K H,Schneider E,et al.Control aspects of a tracked magnetic levitation high speed test vehicle[J].Automatica,1977,13(3):205-223.
[5]Yabuno H,Kanda R,Lacarbonara W,et al.Nonlinear active cancellation of the parametric resonance in a magnetically levitated body[J].Journal of Dynamic Systems Measurement&Control,2004,126(3):433-442.
[6]Alberts T E,Oleszczuk G,Hanasoge A M.Stable levitation control of magnetically suspended vehicles with structural flexibility[C]//American Control Conference.IEEE,Seattle,WA,USA,2008:4035-4040.
[7]LI Jinhui,LI Jie,ZHOU Danfeng,et al.Self-excited vibration problems of maglev vehicle-bridge interaction system[J].Journal of Central South University,2014,21(11):4184-4192.
[8]梁鑫.磁浮列车车轨耦合振动分析及试验研究[D].成都:西南交通大学,2014.LIANG Xin.Study on maglev vehicle/guideway coupled vibration and experiment on test rig for a levitation stock[D].Chengdu:Southwest Jiaotong University,2014.
[9]赵春发,翟婉明.低速磁浮车辆导向方式及其横向动态特性[J].中国铁道科学,2005,26(6):28-32.ZHAO Chunfa,ZHAI Wanmin.Guidance mode and dynamic lateral characteristics of low-speed maglev vehicle[J].China Railway Science,2005,26(6):28-32.
[10]赵春发,翟婉明.常导电磁悬浮动态特性研究[J].西南交通大学学报,2004,39(4):464-468.ZHAO Chunfa,ZHAI Wanming.Dynamic characteristics of electromagnetic levitation systems[J].Journal of Southwest Jiaotong University,2004,39(4):464-468.
[11]邹东升,佘龙华,张志强,等.磁浮系统车轨耦合振动分析[J].电子学报,2010,38(9):2071-2075.ZOU Dongsheng,SHE Longhua,ZHANG Zhiqiang,et al.Maglev vehicle and guideway coupling vibration analysis[J].Acta Electronica Sinica,2010,38(9):2071-2075.
[12]王洪坡,李杰.一类非自治位置时滞反馈控制系统的亚谐共振响应[J].物理学报,2007,56(5):2504-2516.WANG Hongpo,LI Jie.Sub-harmonic resonances of the non-autonomous system with delayed position feedback control[J].Acta Physica Sinica,2007,56(5):2504-2516.
[13]WANG Hongpo,LI Jie,ZHANG Kun.Stability and Hopf bifurcation of the maglev system with delayed speed feedback control[J].Acta Automatica Sinica,2007,33(8):829-834.
[14]张玲玲.磁浮列车悬浮系统的Hopf分岔及滑模控制研究[D].长沙:湖南大学,2010.ZHANG Lingling.Research on Hopf bifurcation and sliding mode control for suspension system of maglev train[D].Changsha:Hunan University,2010.
[15]ZHOU D,LI J,ZHANG K.An adaptive control method to suppress the maglev track-induced self-excited vibration[C]//International Conference on Consumer Electronics,Communications and Networks.IEEE,Xianning,China,2011:4723-4727.
[16]李金辉.EMS型磁浮列车-桥梁耦合振动控制技术研究[D].长沙:国防科学技术大学,2015.LI Jinhui.The vibration control technology of EMSmaglev vehicle-bridge coupled system[D].Changsha:National University of Defense Technology,2015.