EMS型磁悬浮列车模块悬浮系统的模型参考自适应控制

模块是EMS型磁悬浮列车的基本功能单元,常用的悬浮控制方法是将其两端等效为两个完全独立的对象分别设计控制器。实际上模块两端的运动状态是互相耦合的,独立设计的控制器很难解决彼此之间的状态耦合。本文针对这种耦合情况,将模块视为一个刚体对象,采用反馈线性化方法实现模块运动的电气解耦,并针对模型的不确定性设计了模块悬浮系统的模型参考自适应控制器。仿真结果表明,该自适应控制器有效地解决耦合问题,提高悬浮系统的性能。

Model reference adaptive control for maglev module suspension system

The module is the basic function cell of the EMS type maglev train, and the general suspension control method is dividing the two ends of the module into two complete isolated objects and designing controllers respectively. In fact the motion states of the two ends are coupling with each other and it is difficult for the controllers designed independently to solve the coupling problem. Aiming at the coupling, the module was taken as a single rigid body and its nonlinear mathematical model was linearized exactly and decoupled by means of feedback linearization. Finally a model reference adaptive controller was designed. The simulations show that the proposed adaptive controller can solve the coupling problem of the module efficiently.