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弓网接触力反馈线性化控制
引用本文:时光,陈忠华,郭凤仪,刘健辰,王智勇.弓网接触力反馈线性化控制[J].控制理论与应用,2016,33(1):85-91.
作者姓名:时光  陈忠华  郭凤仪  刘健辰  王智勇
作者单位:辽宁工程技术大学电气与控制工程学院 葫芦岛 125105,辽宁工程技术大学电气与控制工程学院 葫芦岛 125105,辽宁工程技术大学电气与控制工程学院 葫芦岛 125105,辽宁工程技术大学电气与控制工程学院 葫芦岛 125105,辽宁工程技术大学电气与控制工程学院 葫芦岛 125105
基金项目:国家自然科学基金项目(51477071, 51277090), 辽宁省教育厅项目(L2013130)资助.
摘    要:通过扩展状态变量得到受电弓的非线性模型, 利用非线性系统的微分几何理论, 构造微分同胚变换和状态 反馈表达式, 得到了受电弓线性化模型, 设计反馈控制律解决弓网接触力的跟踪问题, 并证明了内状态的一致最终 有界性, 考虑弓头易受干扰问题, 采用非线性干扰观测器补偿反馈控制律. 研究对比表明, 所提出的基于干扰观测器 的反馈线性化控制策略能有效解决弓网接触力的跟踪问题, 同时克服了反馈线性化控制依赖于精确模型的缺点, 为 一定工况下弓网最优接触力的跟踪控制提供可行方案.

关 键 词:受电弓    微分同胚变换    非线性干扰观测器    反馈线性化
收稿时间:2014/11/11 0:00:00
修稿时间:2015/7/19 0:00:00

Feedback linearization control of load between pantograph and catenary
SHI Guang,CHEN Zhong-hu,GUO Feng-yi,LIU Jian-chen and WANG Zhi-yong.Feedback linearization control of load between pantograph and catenary[J].Control Theory & Applications,2016,33(1):85-91.
Authors:SHI Guang  CHEN Zhong-hu  GUO Feng-yi  LIU Jian-chen and WANG Zhi-yong
Institution:Liaoning Technical University Huludao 125105 China,Liaoning Technical University Huludao 125105 China,Liaoning Technical University Huludao 125105 China,Liaoning Technical University Huludao 125105 China,Liaoning Technical University Huludao 125105 China
Abstract:We derive a nonlinear model for the pantograph by augmenting the state variables. Using the differential geometry theory of nonlinear system, the differential homeomorphism transformation and the state feedback formula, we develop the linear model of pantograph. Feedback control law of external state equation is designed to solve the tracking problem of pantograph-catenary load. The uniformly ultimate boundedness of internal state variable is proved. Considering that the pan-head of the pantograph is subjected to disturbance, we design the nonlinear disturbance observer to compensate the control law. The research results show that the proposed control strategy of feedback linearization based on disturbance observer is effective in solving the load tracking problem. At the same time, this method overcomes the disadvantage that feedback linearization control method depends on the model accuracy. It provides a feasible solution to track the optimal load of the pantograph-catenary under certain conditions.
Keywords:pantograph  differential homeomorphism transformation  nonlinear disturbance observer  feedback linearization
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