磁浮列车悬浮系统的反步控制方法及实验研究

电磁铁的悬浮控制技术是磁浮列车最关键的核心技术之一.但是悬浮系统受到本质非线性和开环不稳定的影响,其控制器的设计一直存在难点和挑战.针对磁浮列车系统的稳定悬浮控制问题,设计了基于反步(Backstepping)法的非线性控制器.首先建立单点悬浮系统的非线性动力学模型,然后利用反步法将系统分成2个子系统并分别对每个子系统提出Lyapunov候选函数.在第一个子系统中设计虚拟控制量,并代入二级子系统的Lyapunov函数中获取出整个系统的控制器,接着利用Lyapunov理论验证系统的稳定性.同时,通过仿真证明:所提出的控制方法不仅具有更好的动态和稳态表现,而且能很好的抑制干扰对悬浮系统的影响.最后通过实验验证了该方法的有效性和可行性,在磁浮列车的悬浮系统方面具有良好应用前景.

Backstepping Control and Experimental Study of Maglev Train Suspension System

The suspension control technology of electromagnet is one of the most critical core technologies of maglev train. However, the controller design of the suspension system is always difficult and challenge because of its inherent nonlinearity and open-loop instability. In this paper, a nonlinear controller based on backstepping method is designed for stable suspension control of maglev train system. Firstly, the nonlinear dynamic model of the single-point suspension system is established, then the system is divided into two subsystems by the backstepping method and the candidate function of Lyapunov is proposed for each subsystem. The virtual control quantity is designed in the first subsystem, and the controller of the whole system is obtained by substituting into the Lyapunov function of the second subsystem, and then the stability of the system is verified by Lyapunov theory. The virtual control input is designed in the first subsystem and substitute it into the Lyapunov function of the secondary subsystem to obtain the controller of the entire system. Then, the stability of the system is verified by Lyapunov theory. Meanwhile, the simulation results show that the proposed control method not only has better dynamic and steady-state performance, but also can well suppress the influence of disturbance on the suspension system. Finally, the effectiveness and feasibility of the method are verified by experiments, and it has a good application prospect in the levitation system of maglev train.