CN-122008887-A - Suspension constraint control method of high-speed maglev train for coping with track Liang Changbo oscillation

CN122008887ACN 122008887 ACN122008887 ACN 122008887ACN-122008887-A

Abstract

The invention discloses a suspension constraint control method of a high-speed maglev train for coping with track Liang Changbo oscillation, belonging to the field of maglev track traffic. The method comprises the steps of dynamically expanding high-speed maglev train model prediction suspension control under asymmetric preset performance constraint, coping with safe constraint control of precise suspension of a high-speed maglev train oscillating on a track Liang Changbo, establishing a track model oscillating on the track Liang Changbo, designing precise suspension dynamic expansion asymmetric preset performance constraint of the high-speed maglev train according to track Liang Changbo oscillation information, designing a high-speed maglev train suspension air gap mathematical model containing track Liang Changbo oscillation information, expanding asymmetric preset performance constraint according to the dynamics, converting errors to obtain a state space expression based on reconstruction errors, obtaining a prediction model according to the expression, solving an optimal solution, and avoiding suspension deadlock of the high-speed maglev train under the oscillation of a track Liang Changbo on the premise of improving the oscillation reference air gap tracking precision of a track beam, and ensuring safe operation of the high-speed maglev train under the small suspension clearance under the oscillation of the track Liang Changbo.

Inventors

WANG WENJUN
CHU XIAOGUANG
KONG YING

Assignees

曲阜师范大学

Dates

Publication Date: 20260512
Application Date: 20260401

Claims (4)

1. A high-speed maglev train levitation constraint control method for coping with track Liang Changbo oscillations, the method comprising: s1, establishing a track Liang Changbo oscillation mathematical model as follows: (1) Wherein a w is the amplitude of track irregularity, v is the running speed of the high-speed maglev train, l is the wavelength of the track, and h 0 is a reference plane; s2, dynamically expanding asymmetric preset performance constraints of suspension control under oscillation of a design track Liang Changbo; s3, designing a high-speed maglev train suspension air gap mathematical model containing oscillation information of the track Liang Changbo; S4, designing a high-speed magnetic levitation train model prediction levitation controller based on dynamic expansion under asymmetric preset performance constraint.
2. The method for controlling levitation constraint of a high-speed maglev train in response to oscillation of a track Liang Changbo according to claim 1, wherein the specific steps of dynamically expanding asymmetric preset performance constraint of levitation control under oscillation of a S2 design track Liang Changbo are as follows: s21, establishing a tracking error based on track Liang Changbo oscillation information as follows: (2) Wherein h is the upward floating height of the suspension train, e is the tracking error, H ri is the set desired height of the high-speed maglev train suspended to the rail for the desired output height; s22, constructing upper and lower boundaries of tracking error starting transient constraint of track beam oscillation signals The method comprises the following steps: (3) Wherein H - is the lower mechanical boundary, In order to be able to adjust the constant, Is an infinitesimal positive value; S23, constructing upper and lower boundaries of track beam oscillation signal tracking error operation transient constraint The method comprises the following steps: (4) wherein H + is the mechanical upper boundary, To adjust the constant; s24, constructing upper and lower auxiliary boundaries of the dynamic expansion asymmetric preset performance constraint function by the formulas (3) and (4) The method comprises the following steps: (5) wherein, l 1 ,l 2 is an adjustable positive constant; S25, constructing a dynamic upper and lower boundary expansion function based on the auxiliary boundary , The method comprises the following steps: (6) Wherein, the , Q 1 ,q 2 ,q 3 ,q 4 is a normal number which can be designed for the self-adaptive law of the dynamic upper and lower boundary expansion functions; S26, expanding the asymmetric preset performance constraint function by the dynamic upper and lower boundaries , The method comprises the following steps: (7) Where k 1 ,k 2 is a programmable normal number.
3. The method for controlling levitation constraint of high-speed maglev train in response to oscillation of track Liang Changbo according to claim 2, wherein the mathematical model of levitation air gap of high-speed maglev train containing oscillation information of track Liang Changbo is designed in step S3 as follows: (8) Wherein m is the mass of the bogie, f d is instantaneous external disturbance, including uncertain items of the carriage and the bogie, such as unmodeled dynamics and external disturbance forces, i is the current in the electromagnetic coil (replaced by a control input u, described below), μ 0 is vacuum permeability, N is the number of winding turns, a is the effective cross-sectional area of the electromagnet, g is the gravitational acceleration, and H 0 is the maximum levitation air gap of the high-speed maglev train; The mathematical model of the high-speed maglev train suspension air gap linearization containing the oscillation information of the track Liang Changbo is as follows: (9) Where u ref is the reference control input, In order to linearize the error of the signal, , , Is the floating acceleration.
4. The method for controlling levitation constraint of a high-speed maglev train in response to oscillation of a track Liang Changbo according to claim 3, wherein the specific steps of the S4 design of the high-speed maglev train model predictive levitation controller based on dynamic expansion asymmetric preset performance constraint are as follows: S41, constructing a state space expression based on the reconstruction error z 1 and the first-order derivative z 2 of the reconstruction error, wherein the state space expression is as follows: (10) Wherein, the , , , , The first order derivatives of the dynamic upper and lower boundary expansion asymmetric preset performance constraint functions are respectively as follows , The second derivative of the reconstruction error is used, Is that Is a first order derivative of (a); S42, a prediction model based on the reconstruction error under the dynamic expansion asymmetric preset performance constraint is as follows: (11) wherein T r is the predictive domain of the scroll optimization, , Is comprised of Higher-order terms of (2); S43, the optimal control problem of the suspension of the high-speed maglev train under the influence of oscillation of the track Liang Changbo is as follows: (12) Wherein J is a cost function; S44, in summary, by The optimal control solution of the high-speed maglev train suspension under the influence of the oscillation of the track Liang Changbo is as follows: (13) Wherein, the Is that Is a first derivative of (a).

Description

Suspension constraint control method of high-speed maglev train for coping with track Liang Changbo oscillation Technical Field The invention relates to the field of magnetic levitation trains, in particular to a suspension constraint control method of a high-speed magnetic levitation train for coping with track Liang Changbo oscillation. Background The high-speed magnetic levitation transportation system fills the speed blank between the high-speed rail and the airplane by virtue of the remarkable technical advantages of the ultra-high-speed running capability, excellent riding comfort, low noise radiation and the like, has increasingly prominent status in a modern comprehensive transportation system, and becomes a research front in the field of global transportation. However, the technology has the problem of high energy consumption in the process of running at high speed, the reduction of the suspension gap is an effective means for reducing the magnetic suspension power consumption, but the small suspension gap has severe requirements on the smoothness of a track beam, the long wave irregularity of the track and the very easy initiation of the coupling of a track and the oscillation, the dynamic balance state of electromagnetic suspension force is damaged, the continuous fluctuation of the suspension gap is induced, the serious technical challenge is brought to high-precision suspension control, and the running stability and reliability of a high-speed magnetic suspension system are severely restricted. It is worth noting that the long wave oscillation of the track beam is more likely to cause deadlock of the track and the electromagnetic levitation structure, therefore, strict constraint needs to be implemented on the levitation position of the magnetic levitation train to ensure that the magnetic levitation train maintains stable levitation under the condition of small air gap, and meanwhile, the rail Liang Changbo oscillation can be coped with, so that safe and reliable operation of the high-speed magnetic levitation train is ensured. The high-precision requirements of strong nonlinearity, open loop instability, strong interference and transient performance of the magnetic levitation system are met, and particularly the rail long wave oscillation is coupled to the levitation control system through a detection loop, so that the rail long wave oscillation is simply regarded as interference, or a limited time interference observer and the like are adopted, so that satisfactory control effects are difficult to obtain. Therefore, the invention aims at the actual working condition of track Liang Changbo oscillation, and develops suspension constraint control research under the condition of accurate tracking of the high-speed maglev train under the oscillation of the track beam, so as to realize the stable suspension of the maglev train with small suspension clearance under the oscillation of the track Liang Changbo and realize the dual targets of low power consumption and high safety. Disclosure of Invention Aiming at the defects and the blank of the prior art, the invention provides a high-speed maglev train suspension constraint control method for coping with track Liang Changbo oscillation, designs the precise suspension dynamic expansion asymmetric preset performance constraint for coping with track Liang Changbo oscillation of the high-speed maglev train, constructs a dynamic expansion function based on track beam oscillation tracking error, avoids suspension deadlock of the high-speed maglev train under track Liang Changbo oscillation on the premise of improving track beam oscillation reference air gap tracking precision, and finally designs generalized model prediction control based on specified performance constraint, and optimizes and adjusts suspension control input, thereby ensuring that the high-speed maglev train under track Liang Changbo oscillation runs safely under small suspension clearance with low power consumption. In order to achieve the above purpose, the invention relates to a high-speed maglev train stable suspension constraint control method for coping with track Liang Changbo oscillation, which comprises the following steps: step 1, establishing a track Liang Changbo oscillation mathematical model; Step 2, dynamically expanding asymmetric preset performance constraints of suspension control under oscillation of a design track Liang Changbo; step 3, designing a high-speed maglev train suspension air gap mathematical model containing oscillation information of the track Liang Changbo; step 4, designing a high-speed magnetic levitation train model prediction levitation controller based on dynamic expansion under asymmetric preset performance constraint; The mathematical model of track Liang Changbo oscillation is established in the step 1: (1) Wherein a w is the amplitude of track irregularity, v is the running speed of the high-speed maglev train, l is the wavelength of the track, a