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导向系统是高速磁浮列车中的关键子系统之一,针对导向系统工作电流变化范围大的特点,设计了降低静态电流灵敏度的鲁棒导向控制器。在介绍导向系统结构和控制方案的基础上给出导向系统线性化的数学模型,并采用线性最优二次型设计方法设计最优控制器,结合仿真讨论最优控制器无法在整个工作范围内保证导向系统具有相近性能的原因,而后建立了导向系统对于静态电流的参数灵敏度模型,并采用降低参数灵敏度的鲁棒控制理论对最优控制器设计方法进行改进,设计了鲁棒控制器。仿真和试验表明,该鲁棒控制器能够增强导向系统对静态电流变化的鲁棒性。
Steering system is one of the key subsystems in high-speed maglev train. In view of the wide range of operating current variation of the guidance system, a robust steering controller is designed to reduce the sensitivity of quiescent current. Based on the introduction of the guidance system structure and control scheme, the mathematical model of the guidance system linearization is given, and the optimal controller is designed by the linear optimal quadratic design method. The optimal controller can not be discussed in the simulation with the optimal controller. Then the parameter sensitivity model of the guidance system for the quiescent current is established. The robust controller theory, which reduces the sensitivity of the parameter, is used to improve the design method of the optimal controller. Robust controller is designed. Simulation and experiment show that the robust controller can enhance the robustness of steering system to the quiescent current changes.