论文部分内容阅读
电磁永磁混合悬浮是电磁型(EMS)高速磁悬浮列车悬浮系统的发展方向之一,由于系统具有强非线性和慢时变的特点,传统的状态反馈控制在系统参数变化较大时有可能使系统失稳。本文在简要分析系统数学模型的基础上首先给出了传统的状态反馈控制器的设计方法,并在此基础上,提出了一种非线性模糊PD控制器结合线性加速度阻尼环节和线性积分环节的混合控制器。由于模糊控制器的设计过程综合了专家经验,从而使得整个系统更具有鲁棒性,并且动态特性也得到了改善,系统响应速度更快,超调量也更小。试验结果证明了该方案是正确的。
Electromagnetic permanent magnet hybrid suspension is one of the development directions of electromagnetic high-speed maglev train suspension system. Due to the strong non-linearity and slow time-varying characteristics, the traditional state feedback control may make the system parameters change greatly System instability. Based on a brief analysis of the mathematical model of the system, the design method of the traditional state feedback controller is given first. On the basis of that, a nonlinear fuzzy PD controller is proposed combining linear acceleration damping and linear integral Hybrid controller. As the fuzzy controller design process integrates expert experience, making the whole system more robust, and the dynamic characteristics have also been improved, the system response faster, overshoot is also smaller. The test results show that the program is correct.