磁悬浮列车造型仿生设计研究

以仿生设计的理论为基础来指导磁悬浮列车造型设计,以期为列车车型概念提供灵感,提高列车造型品质,并满足车体气动性能的基本要求。首先,通过文献研究归纳了国内外以磁悬浮列车为主的轨道列车造型仿生的研究动向;其次,通过案例研究解析典型仿生设计系列车型案例,探究列车仿生对象的应用形式;再次,综合仿生设计与轨道列车设计的方法要素,构建磁悬浮列车仿生设计的一般程序,并基于车体线性趋势的仿生规律,以平鳍旗鱼为仿生对象,设计具有仿生特征的磁悬浮列车概念性设计造型方案;最后,通过初步的仿真模拟,得到该方案的空气阻力系数。通过将本方案与相关案例数据的对比,证明运用仿生设计可以满足磁悬浮列车造型对美学价值和气动性能的要求。     

Self-excited vibration problems of maglev vehicle-bridge interaction system

The self-excited vibration problems of maglev vehicle-bridge interaction system were addressed, which greatly degrades the stability of the levitation control, decreases the ride comfort, and restricts the cost of the whole system. Firstly, the coupled model containing the quintessential parts was built, and the mechanism of self-excited vibration was explained in terms of energy transmission from levitation system to bridge. Then, the influences of the parameters of the widely used integral-type proportion and derivation（PD） controller and the delay of signals on the stability of the interaction system were analyzed. The result shows that the integral-type PD control is a nonoptimal approach to solve the self-excited vibration completely. Furthermore, the differential-type PD controller can guarantee the passivity of levitation system at full band. However, the differentiation of levitation gap should be filtered by a low-pass filter due to noise of gap differentiation. The analysis indicates that a well tuned low-pass filter can still keep the coupled system stable.     

采用模式搜索法对磁悬浮列车轨道梁的加工实现精确定位

磁悬浮列车轨道梁体积大、质量重,无法适用传统机加工定位方式,需由机床进行测量并与理论模型进行拟合以确定其加工位置。针对定位过程中的拟合问题,文章基于最小二乘原理,采用模式搜索法对理论模型和实际模型进行拟合,使其满足每个实测点与其对应理论点的距离的平方和为最小,从而实现对加工位置的精确定位,并得到从理论模型到加工模型的坐标变换参数和转换矩阵。     

磁悬浮直线电动机H∞鲁棒控制器及其蚁群算法优化设计

磁悬浮永磁直线电动机在结构上取消了机械传动的中间环节,具有磁悬浮和直接驱动的特点.针对磁悬浮永磁直线电动机由于悬浮高度不同,在磁悬浮和直接驱动运行过程中存在自身参数摄动和外界干扰突出的问题,设计基于蚁群算法的H_∞鲁棒控制器,以保证系统对这些不确定性具有良好的鲁棒性.建立包含磁悬浮永磁直线电动机参数摄动和外界干扰的状态空间模型.推导出无须满足正则条件约束的Riccati不等式,给出H_∞鲁棒控制器的解析表达式.针对H_∞控制器中加权矩阵选择的困难,采用蚁群算法对加权矩阵进行寻优.最后在MATLAB环境下对控制系统进行仿真研究.仿真实验表明基于蚁群算法的磁悬浮永磁直线电动机控制系统的性能比优化前有较明显改善,说明该方法的可行性和有效性.     

磁悬浮通信系统的误码性能分析及改进

磁悬浮车地通信系统承担着在高速列车和地面之间传输监控信息的重要任务,因此对误码率要求较高。在某一确定的信道条件下,决定误码率的主要因素是调制和编码,本文在对传统车地无线通信系统的误码性能做出定量分析的基础上,提出以正交振幅调制（QAM）和卷积码相结合的方案替代传统的频移键控（FSK）和循环码,仿真证明,改进方案将误码率提高了3到5个数量级。     

磁浮列车搭接结构的非线性解耦控制

磁浮列车的搭接结构是一个多输入多输出的非线性系统, 对该系统进行稳定控制是确保磁浮列车可靠性的关键. 本文采用微分几何方法对系统解耦; 采用反馈线性化方法对解耦后的系统进行线性化, 确保了系统的全局稳定性; 对线性化之后的系统采用极点配置的方法进行控制律设计, 使系统的动态性能达到一定的指标; 最后给出了应用此方法的一个实际例子.     

新型磁悬浮运动平台力学分析与控制

为了设计最佳控制参数对两级磁悬浮运动系统进行稳定可靠的悬浮控制,运用动力学时域和频域分析理论对系统进行分析.经理论推导将系统差动式结构电磁力模型等效为质量-弹簧-阻尼二阶系统.并运用ANSYS软件对等效模型进行刚度和瞬态响应分析,由仿真结果确定了系统最佳等效刚度和阻尼比,并以此为依据设计系统PID控制参数?在仿真分析指导下,经反复调试,实现了两级磁悬浮运动平台的稳定可靠悬浮.实验结果验证了理论研究和仿真分析的正确性.     

EMS型高速磁浮列车自适应导向控制器设计

EMS型高速磁浮列车导向系统的工作条件变化范围大,采用一般方法设计的控制器无法在整个工作范围内保持一致的控制性能。为了解决这个问题,研究了自适应导向控制器的设计方法。首先,建立了导向系统的数学模型,通过设计电流环使模型降阶;并分析了导向系统参数的变化原因及特性,在此基础上采用自校正的自适应控制理论,设计了参数自适应的导向控制器。仿真结果表明,该控制器较好地解决了导向系统在整个工作范围内特性不一致的问题。     

A practical robust nonlinear controller for maglev levitation system

In order to explore the precise dynamic response of the maglev train and verify the validity of proposed controller, a maglev guideway-electromagnet-air spring-cabin coupled model is developed in the first step. Based on the coupled model, the stresses of the modules are analyzed, and it is pointed out that the inherent nonlinearity, the inner coupling, misalignments between the sensors and actuators, and external disturbances are the main issues that should be considered for the maglev engineering. Furthermore, a feedback linearization controller based on the mathematical model of a maglev module is derived, in which the nonlinearity, coupling and misalignments are taken into account. Then, to attenuate the effect of external disturbances, a disturbance observer is proposed and the dynamics of the estimation error is analyzed using the input-to-state stability theory. It shows that the error is negligible under a low-frequency disturbance. However, at the high-frequency range, the error is unacceptable and the disturbances can not be compensated in time, which lead to over designed fluctuations of levitation gap, even a clash between the upper surface of electromagnet and lower surface of guideway. To solve this problem, a novel nonlinear acceleration feedback is put forward to enhancing the attenuation ability of fast varying disturbances. Finally, numerical comparisons show that the proposed controller outperforms the traditional feedback linearization controller and maintains good robustness under disturbances.     

直线同步电机动子位置检测方法研究

准确、可靠的转子位置检测是磁场定向控制同步电机系统运行的必要条件。针对高速磁浮列车用长定子直线同步电机的特点,提出了一种基于电感式传感器和DSP的电机动子位置检测新方法。介绍了电感式传感器的硬件结构及其实现电机齿槽信号的检测原理,阐述了DSP获取动子位置的计算方法。分析了检测精度和检测误差,并提出了几点改进措施。在高速磁浮列车定位测速试验系统中的实验表明,该检测方法的检测精度达到对应长定子直线同步电机线圈周期的3o,满足高速磁悬浮列车运行控制的要求。