高速磁浮列车最优速度曲线及其跟踪控制研究
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摘要
高速磁浮列车是未来交通的重要发展方向之一。高速磁浮交通技术研究已经被列为国家“十五”863计划重大专项。本文以德国高速磁浮列车系统为研究对象，以实现列车安全正点、舒适节能地自动驾驶为目标，对列车运行的最优速度曲线及其跟踪控制问题以及与此相关的问题进行了研究。论文的主要研究工作及创新点总结如下。
(1)为了便于分析和求解磁浮列车的运行规律，采用拟和方法对磁浮列车运行的非线性动力学模型进行了近似处理，得到了适用于类型相同而不同编组列车系统的统一的近似动力学模型，并给出了隐式解析解的通用表达形式。研究了恒力作用下列车运行的规律，并给出了已知列车运行规律求解控制力的迭代搜索算法。
(2)系统地分析了磁浮列车的双限速度防护问题，提出了基于动力学模型的安全速度防护曲线的求解算法，确定了列车运行的安全速度域。研究了列车速度越界后的防护措施，并给出了列车超速防护下的涡流制动切换算法。
(3)基于磁浮列车的动力学模型，以安全、舒适为约束条件，分别求解了最短时间和最小能量的最优控制问题，在理论分析的基础上给出了工程化求解方法。针对最小能量控制下确定惰行切换点的关键问题，给出了两种求解方法。基于求解不同定时条件下的最小能量得到了能耗随运行时间变化的曲线，为铺画列车运行图提供了重要的依据。
(4)利用反馈线性化技术，处理了磁浮列车系统的非线性动力学模型，设计了非线性补偿器和PI控制器。仿真结果表明，所设计的控制系统实现了列车速度良好地跟踪目标速度曲线。
(5)在分析几种典型轨道交通的列车自动控制系统特点的基础上，提出了一种更完善、安全性和可靠性更高的新型运行控制系统体系结构。分析了新结构中的列车运行仿真系统的核心功能，并基于磁浮列车最优速度曲线的理论和算法设计了运行速度曲线优化模块的功能，为铺画高速磁浮交通系统的运行图提供了技术支撑。
综上所述，本文对磁浮列车最优速度曲线及其相关研究成果，为高速磁浮列车研究提供有益的参考，具有重要的理论意义和应用价值。
High-speed Maglev train traffic system is one of the important development directions in the future. High-speed Maglev transportation technology has been listed as major projects of "Tenth Five-Year" 863 Plan. In order to drive the Maglev train on time, safety, energy saving and comfortable automatically, the optimum speed curve of high-speed Maglev-train, its tracking control and other issues were studied, with the German high-speed Maglev-train system as the research object. The major research and innovation points are summarized below.
Firstly, the non-linearity dynamic model of the running Maglev train was approximately treated using the fitting method convenient for analyzing and calculating the Maglev train running rule. The uniform non-linearity dynamic approximate model, useful to express different train system with same type and different organization, was obtained. The general expression of analytical solutions was obtained. The running rule of the Maglev train under the constant force was studied, and an iterative search algorithm was designed to calculate the control force with known running rule.
Secondly, the safety speed protection curve algorithm was proposed based the dynamic model of Maglev train, and the train safety speed range was determine by systematic analysis of the limited-speed Maglev train protection. The protection measure was studied to treat the over-speed Maglev train, and the switching algorithm of eddy-current brake for protecting the Maglev train over-speed was given.
Thirdly, based on the dynamic model of maglev train and bond with safe and comfortable conditions, the optimal control problems of the shortest time and the smallest energy were studied, and the practical method was given based on theoretical analysis. To the question of determining the switching sliding point under minimum energy control, two methods were given. The important foundation for drawing the operation chart was provided, for the changing energy consumption curve with the running time interval was obtained based on calculating the smallest energy consumption to different interval time.
Fourthly, after linearizing the Maglev train system input-output model using feedback linearization techniques, the nonlinear compensator and nonlinear PI controller were designed. The simulation results show that the target speed curve was tracked well.
Fifthly, a new structure of operation control system, with perfect function, high security and reliability was proposed based on analyzing some typical rail transportation system and its features of ATC system. The key function of traffic simulation system was designed, and the function of optimizing running speed curve was designed, based on the theory and arithmetic of optimum speed curve of high-speed Maglev train. The technology basement for drawing the operation chart of high-speed Maglev train was provided.
In short, the optimum speed curve of high speed Maglev train and related research results given in this thesis has important theoretical and practical value for providing a useful reference to high-speed maglev train researching.
(1)为了便于分析和求解磁浮列车的运行规律，采用拟和方法对磁浮列车运行的非线性动力学模型进行了近似处理，得到了适用于类型相同而不同编组列车系统的统一的近似动力学模型，并给出了隐式解析解的通用表达形式。研究了恒力作用下列车运行的规律，并给出了已知列车运行规律求解控制力的迭代搜索算法。
(2)系统地分析了磁浮列车的双限速度防护问题，提出了基于动力学模型的安全速度防护曲线的求解算法，确定了列车运行的安全速度域。研究了列车速度越界后的防护措施，并给出了列车超速防护下的涡流制动切换算法。
(3)基于磁浮列车的动力学模型，以安全、舒适为约束条件，分别求解了最短时间和最小能量的最优控制问题，在理论分析的基础上给出了工程化求解方法。针对最小能量控制下确定惰行切换点的关键问题，给出了两种求解方法。基于求解不同定时条件下的最小能量得到了能耗随运行时间变化的曲线，为铺画列车运行图提供了重要的依据。
(4)利用反馈线性化技术，处理了磁浮列车系统的非线性动力学模型，设计了非线性补偿器和PI控制器。仿真结果表明，所设计的控制系统实现了列车速度良好地跟踪目标速度曲线。
(5)在分析几种典型轨道交通的列车自动控制系统特点的基础上，提出了一种更完善、安全性和可靠性更高的新型运行控制系统体系结构。分析了新结构中的列车运行仿真系统的核心功能，并基于磁浮列车最优速度曲线的理论和算法设计了运行速度曲线优化模块的功能，为铺画高速磁浮交通系统的运行图提供了技术支撑。
综上所述，本文对磁浮列车最优速度曲线及其相关研究成果，为高速磁浮列车研究提供有益的参考，具有重要的理论意义和应用价值。
High-speed Maglev train traffic system is one of the important development directions in the future. High-speed Maglev transportation technology has been listed as major projects of "Tenth Five-Year" 863 Plan. In order to drive the Maglev train on time, safety, energy saving and comfortable automatically, the optimum speed curve of high-speed Maglev-train, its tracking control and other issues were studied, with the German high-speed Maglev-train system as the research object. The major research and innovation points are summarized below.
Firstly, the non-linearity dynamic model of the running Maglev train was approximately treated using the fitting method convenient for analyzing and calculating the Maglev train running rule. The uniform non-linearity dynamic approximate model, useful to express different train system with same type and different organization, was obtained. The general expression of analytical solutions was obtained. The running rule of the Maglev train under the constant force was studied, and an iterative search algorithm was designed to calculate the control force with known running rule.
Secondly, the safety speed protection curve algorithm was proposed based the dynamic model of Maglev train, and the train safety speed range was determine by systematic analysis of the limited-speed Maglev train protection. The protection measure was studied to treat the over-speed Maglev train, and the switching algorithm of eddy-current brake for protecting the Maglev train over-speed was given.
Thirdly, based on the dynamic model of maglev train and bond with safe and comfortable conditions, the optimal control problems of the shortest time and the smallest energy were studied, and the practical method was given based on theoretical analysis. To the question of determining the switching sliding point under minimum energy control, two methods were given. The important foundation for drawing the operation chart was provided, for the changing energy consumption curve with the running time interval was obtained based on calculating the smallest energy consumption to different interval time.
Fourthly, after linearizing the Maglev train system input-output model using feedback linearization techniques, the nonlinear compensator and nonlinear PI controller were designed. The simulation results show that the target speed curve was tracked well.
Fifthly, a new structure of operation control system, with perfect function, high security and reliability was proposed based on analyzing some typical rail transportation system and its features of ATC system. The key function of traffic simulation system was designed, and the function of optimizing running speed curve was designed, based on the theory and arithmetic of optimum speed curve of high-speed Maglev train. The technology basement for drawing the operation chart of high-speed Maglev train was provided.
In short, the optimum speed curve of high speed Maglev train and related research results given in this thesis has important theoretical and practical value for providing a useful reference to high-speed maglev train researching.
引文
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