The invention provides an interference suppression suspension control method and system for a magnetically levitated train, and belongs to the technical field of magnetically levitated train suspension control. A vertical kinetic equation of a magnetically levitated train suspension system is established, a nonlinear dynamic model of the magnetically levitated train suspension system is obtained, and a tracking error model of the suspension system is obtained according to a tracking target; linearizing the tracking error model of the suspension system of the maglev train by using a feedback linearization method to obtain a linear tracking error model of the suspension system of the maglev train; designing a disturbance observer to actively compensate disturbance; designing a tubular model prediction controller and calculating robust tightening constraint according to an interfered magnetically levitated train suspension system tracking error model; the disturbance observer and the tubular model predictive controller are used for controlling a suspension system of the magnetically levitated train to be in a safe air gap interval and keep stable. According to the invention, the influence of vertical disturbance on the maglev train is solved, and the maglev train is stably suspended in a safe interval.
本发明提供一种磁悬浮列车的干扰抑制悬浮控制方法及系统,属于磁悬浮列车悬浮控制技术领域,建立磁悬浮列车悬浮系统的垂向动力学方程,得到磁悬浮列车悬浮系统的非线性动态模型,根据跟踪目标得到悬浮系统的跟踪误差模型;利用反馈线性化方法,对磁悬浮列车悬浮系统的跟踪误差模型线性化,得到磁悬浮列车悬浮系统线性跟踪误差模型;设计干扰观测器对扰动进行主动补偿;根据受干扰的磁悬浮列车悬浮系统跟踪误差模型,设计管状模型预测控制器,计算鲁棒收紧约束;利用干扰观测器和管状模型预测控制器控制磁悬浮列车的悬浮系统在安全气隙区间内并保持平稳。本发明解决了垂向扰动对磁悬浮列车的影响,并实现磁悬浮列车稳定悬浮在安全区间内。
Interference suppression suspension control method and system for magnetically levitated train
磁悬浮列车的干扰抑制悬浮控制方法及系统
2024-08-23
Patent
Electronic Resource
Chinese
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