摘要
针对磁浮列车运行过程中悬浮间隙信号存在随机噪声的问题,在间隙传感器输出端加入跟踪微分器(Tracking-Differentiator,TD)对信号进行跟踪滤波,进而设计反馈控制器实现磁浮列车稳定悬浮。以状态反步法确定最速离散二阶系统的边界曲线以及控制特征曲线,并确定可达区与线性区的控制量,区别于韩京清跟踪微分器算法(fhan-TD)中比较复杂的非线性运算,构造了具备线性特征的简易最速综合控制函数进而设计了一种新型跟踪微分器算法;以间隙信号及速度信号为状态变量创建二阶状态方程,根据实际磁浮列车悬浮结构建立磁浮车单点悬浮控制系统模型;在PID(Proportional IntegralDerivative)控制器的基础上,引入所提出的新型跟踪微分器对间隙输出信号进行跟踪滤波,搭建基于跟踪微分器的悬浮反馈控制器框架,实现磁浮车的稳定悬浮。数值仿真结果表明,所提出的跟踪微分器算法具有良好的跟踪滤波性能与相位品质,与传统fhan-TD相比,当输入带噪声正弦信号时,其滤波效果提升了37.5%,相位滞后减少了5.04%;当输入带噪声方波信号时,其滤波效果提升了33.87%,相位滞后减少了30.34%。试验结果表明,所提出的跟踪微分器能够有效抑制间隙传感器中不同强度的随机噪声,并且所设计的悬浮反馈控制器使得磁浮列车在悬浮上升阶段超调量减少了6.57%,调节时间缩短了0.11 s,验证了所提算法的有效及实用性。该新型跟踪微分器及其反馈控制器对于工程实现具有很好的参考价值。
In order to suppress the random noise in the suspension gap signals during the operation of the maglev train,the tracking differentiator(TD)was designed and implemented to filter the gap signals,and then the feedback controller based on the proposed TD was designed to realize the stable suspension.First,without complex nonlinear operations existed in Han’s TD(fhan-TD),a simple time-optimal control law equipped with the linearity property was proposed by using the back-stepping approach.This approach can determine the boundary curves and characteristic curves,and then the control sequences located in the reachable region and linear region can be calculated.With the proposed control sequences,a new TD with the simple property can be given.Second,with the state variables named gap signal and speed signal,a second-order state equation was established,and the single-point suspension control system model according to the real-life maglev train structure was created.Finally,in view of the PID(Proportional Integral Derivative)controller,the proposed TD was added to filter the gap signals.By combining the PID controller and the proposed TD,the suspension feedback controller framework was proposed to ensure the stable suspension.Simulation results show that the proposed TD performs well in signal tracking and differentiation acquisition.Compared with the traditional fhan-TD,when the input signal is noisy sine wave or noisy square wave,the filtering performance of proposed TD is improved by 37.5%and 33.87%,and the phase lag is reduced by 5.04%and 30.34%,respectively.Experiments carried out on the maglev train platform show that the proposed TD can suppress random noise existed in the gap outputs effectively.During the suspension stage of maglev train,the proposed controller can reduce the overshoot by 6.57%,and can shorten the adjustment time by 0.11 s.This verifies the effectiveness and practicability of the proposed TD and its corresponding PID strategy.The new TD and its feedback controller have good reference value fo
作者
张文进
林志坚
张睿扬
龙志强
顾秋明
张和洪
ZHANG Wenjin;LIN Zhijian;ZHANG Ruiyang;LONG Zhiqiang;GU Qiuming;ZHANG Hehong(College of Physics and Information Engineering,Fuzhou University,Fuzhou 350000,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;College of Intelligence Science and Technology,National University of Defense,Changsha 410073,China;Lejia Construction Engineering Co.,Ltd.,Fuzhou 350000,China;College of Computer and Data Science/College of Software,Fuzhou University,Fuzhou 350000,China)
出处
《铁道科学与工程学报》
EI
CAS
CSCD
北大核心
2023年第10期3954-3964,共11页
Journal of Railway Science and Engineering
基金
国家自然科学基金资助项目(62003088)
福建省自然科学基金资助项目(2021J02008)。
关键词
磁浮列车
悬浮控制
跟踪微分器
滤波
微分
maglev train
suspension control
tracking differentiator
filtering
differentiation
