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通过建立带有多个悬浮控制器的高速磁悬浮列车系统模型并对其进行动态响应分析,研究多个串级PID控制器协同工作条件下弹性悬浮架的动态解耦性能是否满足系统稳定要求。建立了复杂悬浮架有限元模型,利用模态综合动力凝聚超单元方法生成较低维数的悬浮架动力学模型。离线设计单个串级PID控制算法并给出了稳定参数选择方法,并由此建立多控制器磁悬浮耦合系统模型。使用四阶龙格-库塔算法对系统模型进行仿真计算,绘制了各个悬浮控制器先后悬浮以及悬浮间隙谐波干扰两种情况下各控制器的悬浮间隙动态响应曲线。结果证明悬浮架具有一定的动态解耦能力,但是只能保证鲁棒性较强的单控制器参数能够直接应用于多控制器协同工况。
By establishing a model of a high-speed maglev train with multiple suspension controllers and analyzing the dynamic response of the system, it is studied whether the dynamic decoupling performance of the elastic suspension suspension frame meets the requirements of system stability under the cooperative working condition of multiple cascade PID controllers. The finite element model of the complex suspension frame is established, and the dynamic model of the suspension frame with lower dimension is generated by using the modal integrated dynamic condensation super element method. Off-line design a single cascade PID control algorithm and gives the selection method of the stability parameters, and the establishment of multi-controller magnetic levitation coupling system model. The fourth-order Runge-Kutta algorithm is used to simulate the system model, and the dynamic response curves of the levitation gap of each controller are plotted under the condition that each suspension controller successively floats and the suspension gap harmonics interfere. The results show that the suspension frame has a certain dynamic decoupling capability, but it can only guarantee that the robust single controller parameters can be directly applied to the multi-controller cooperative working condition.