磁悬浮列车的双环控制

为了增强控制系统对磁悬浮列车系统参数变化的适应性,将磁悬浮系统分为电流环和位置环进行控制.对于电流环系统,采用模型参考自适应控制方法进行控制,使得在电磁线圈参数变化的情况下,电流环的性能能够保持稳定,这样就将三阶非线性磁悬浮系统降阶为二阶系统;对于二阶系统,首先采用反馈线性化控制方法将系统线性化,然后采用PD控制算法进行控制,从而确保系统在不同工作点处的性能一致.仿真实验结果证明,该方法使磁悬浮列车的适应能力得到了明显的提高.

Double-loop Control of Maglev Train

In order to improve the adaptability of the controller to the variety of maglev train parameters,the maglev system is divided into current-loop and position-loop.The delay of current-loop is reduced by model reference adaptive control method so that the third rank maglev system is changed into second rank system.When the coil parameters are changed,the current-loop performance will not change.The second rank system is linearized by feedback linearization method,and then the PD control method is applied to the linear system.This method can pledge the consistency of the system performance independent of operating point.The simulation result shows the superiority of double-loop controller over conventional controller for system with large variations in operating point.