| 引用本文: | 刘德生,李杰,张锟.基于反馈线性化的EMS型磁浮列车非线性悬浮控制器设计.[J].国防科技大学学报,2005,27(2):96-101.[点击复制] |
| LIU Desheng,LI Jie,ZHANG Kun.The Design of the Nonlinear Suspension Controller for EMS Maglev Train Based on Feedback Linearization[J].Journal of National University of Defense Technology,2005,27(2):96-101[点击复制] |
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| 基于反馈线性化的EMS型磁浮列车非线性悬浮控制器设计 |
| 刘德生, 李杰, 张锟 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 悬浮系统控制技术是EMS型磁浮列车的关键技术之一。针对悬浮系统的非线性特征，设计了一种非线性悬浮控制器。在合理假设的基础上，建立了EMS型磁浮列车悬浮系统的非线性数学模型；通过反馈线性化将该非线性模型精确线性化，得到等价的线性模型，采用状态反馈的方法设计了非线性控制器。仿真结果表明，该非线性控制器的控制性能明显优于传统的局部近似线性化方法设计的控制器，对间隙干扰和负载干扰具有鲁棒性。 |
| 关键词: 非线性 悬浮控制器 反馈线性化 仿真 |
| DOI： |
| 投稿日期：2004-09-07 |
| 基金项目:国家十五863高速磁浮交通技术重大专项支持项目；国家自然科学基金资助项目(60404003)；霍英东教育基金优选资助课题(94028)；湖南省自然科学基金资助项目(03JJY3108) |
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| The Design of the Nonlinear Suspension Controller for EMS Maglev Train Based on Feedback Linearization |
| LIU Desheng, LI Jie, ZHANG Kun |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology，Changsha 410073，China)
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| Abstract: |
| The technology of magnetic suspension control is one of the key technologies of EMS maglev train. Aiming at the nonlinearity of the magnetic suspension system, a nonlinear controller was designed. Firstly a nonlinear mathematical model of the magnetic suspension system was derived under some reasonable assumptions. Then the model was linearized exactly by means of feedback linearization, and an equivalent linear model was developed. Finally the design of a nonlinear suspension controller was presented using state feedback based on the linear model. Results of the simulation show that the controller works better than the traditional controller based on the local approximate linearization, and has robustness against the disturbance of the gap and load. |
| Keywords: nonlinear suspension controller feedback linearization simulation |
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