CN-122008888-A - Anti-collision/adsorption constraint control method for rail beam under small suspension gap of high-speed maglev train

CN122008888ACN 122008888 ACN122008888 ACN 122008888ACN-122008888-A

Abstract

The invention discloses an anti-collision/adsorption constraint control method for a track beam under a small suspension gap of a high-speed maglev train, and belongs to the field of maglev track traffic. The method adopts an asymmetric air gap constraint and generalized model predictive control technology to control safety constraint among a skid, an electromagnet and a track beam, and comprises the steps of establishing an asymmetric preset performance constraint function based on the safety constraint among the skid, the electromagnet and the track beam, constructing a high-speed maglev train suspension air gap dynamic model containing gaps between the skid and the track beam, designing a model predictive position controller based on the asymmetric preset performance constraint by the high-speed maglev train suspension air gap dynamic model and the asymmetric preset performance constraint function, designing a model predictive controller based on a suspension speed state by the position controller, and realizing the constraint control of wheel rail collision prevention and magnet and track deadlock prevention under a small suspension air gap of the high-speed maglev train. The invention ensures the small air gap suspension of the high-speed magnetic levitation train, considers the safety of the gap between the wheel tracks and the gap between the magnet and the track, and ensures the stable suspension of the magnetic levitation train.

Inventors

WANG WENJUN
CHU XIAOGUANG
KONG YING

Assignees

曲阜师范大学

Dates

Publication Date: 20260512
Application Date: 20260401

Claims (4)

1. The anti-collision/adsorption constraint control method for the track beam under the small suspension gap of the high-speed maglev train is characterized by comprising the following steps of: S1, establishing an asymmetric preset performance constraint function based on safety constraint among a skid, an electromagnet and a track beam, wherein the method specifically comprises the following steps of: S11, establishing a physical constraint relation between wheel-rail collision and adsorption, wherein the physical constraint relation comprises the following steps: (1) Wherein, the In order to make it desirable to suspend the air gap, For the safety distance of the maximum wheel track, The maximum suspension gap is the maximum suspension gap when the magnetic suspension train is not suspended; S12, constructing initial values of upper and lower boundaries of preset performance constraints Presetting upper and lower constant boundaries of performance constraint : (2) Wherein, the For a programmable safety margin for adsorption and collision at start-up, Is a positive infinitesimal quantity which is smaller than the first, (3) Wherein, the For a designable safety margin for adsorption and collision in steady state, Is an infinitesimal amount; s13, constructing a convergence speed l of an up-down tracking error appointed performance function as follows: (4) Wherein, the The error band of the system is represented by T, which is the expected convergence time; s14, designing the following asymmetric preset performance constraints on the whole: (5) Wherein, the , Respectively the upper and lower boundaries of preset performances; s2, constructing a high-speed magnetic levitation train suspension air gap dynamic model containing gaps between skids and track beams; s3, designing a model prediction position controller based on asymmetric preset performance constraint; S4, designing a model prediction controller based on the suspension speed state.
2. The method for controlling the anti-collision/adsorption constraint of the track beam under the small suspension gap of the high-speed maglev train according to claim 1, wherein the step S2 is characterized in that a dynamic model of the suspension air gap of the high-speed maglev train with the gap between the skid and the track beam is constructed by: (6) Wherein, the For a suspended air gap, m is the mass of the bogie, For local acceleration, f d is instantaneous external disturbance, including numerous unmodeled dynamics of uncertain items of a carriage and a bogie and external disturbance force, i is current in an electromagnetic coil, mu 0 is vacuum magnetic permeability, N is winding turns, and A is effective sectional area of an electromagnet; The equation linearization of the electromagnet suspension system of the high-speed maglev train under the safety distance of the contained skid is as follows: (7) wherein i 0 is the reference current of the coil of the maglev train.
3. The method for controlling the anti-collision/adsorption constraint of the track beam under the small suspension gap of the high-speed maglev train according to claim 2, wherein the step of designing the model predictive position controller based on the asymmetric preset performance constraint in S3 comprises the following specific steps: S31 to respectively Is in state of Taking x 1 as output y, the state space equation of the high-speed maglev train levitation system containing the safety constraint information of the skid clearance and the electromagnet levitation clearance is obtained by the following steps: (8) Wherein, the In order to linearize the error of the signal, In order to achieve a suspension speed, the suspension speed, Is a suspension acceleration; S32, reconstructing the tracking error of the high-speed maglev train into the tracking error according to the asymmetric preset performance constraint of the small air gap levitation of the high-speed maglev train The first derivative of the reconstruction error which is more sensitive to the safety distance of rail adsorption can be obtained as The reconstructed position error prediction model is as follows: (9) Wherein, the Is that , Is that , Is that Is used as a first derivative of (a), Is that , For the purpose of scrolling through the optimized prediction fields, Is comprised of Higher-order terms of (2); S33, the optimal control problem of the anti-collision/adsorption position of the track beam under the small suspension gap of the high-speed maglev train is as follows: (10) Wherein, the As a cost function; S34, optimizing and solving design of anti-collision/adsorption position controller of track beam under small suspension gap of high-speed maglev train Minimizing optimization index when Satisfy the following requirements When the high-speed magnetic levitation train is used, the optimal speed for stable levitation of the small air gap is easily known as follows: (11) By passing through Can ensure Is globally minimum.
4. The method for controlling the anti-collision/adsorption constraint of the track beam under the small suspension gap of the high-speed maglev train according to claim 3, wherein the specific steps of designing the model predictive controller based on the speed state feedback in the step S4 are as follows: S41, defining the small air gap suspension speed error of the high-speed magnetic levitation train as The first derivative of the speed error is The speed error prediction model is: (12) where k is a positive constant, T r2 is the predictive domain of the rolling optimization, Is that , Is comprised of Is used for the high-order terms of (a), Is the optimal acceleration; s42, the optimal control problem of the anti-collision/absorption speed of the track beam under the small suspension gap of the high-speed maglev train is as follows: (13) S43 by The optimization index is minimized, and the control input of the high-speed magnetic levitation train with the optimal stable levitation of the small air gap is known as follows: (14) Wherein, the Is that , ; S44 in design (16) The adaptive law of (2) is: (15) Wherein, the Is that Is used for the estimation of (a), Is a programmable positive constant.

Description

Anti-collision/adsorption constraint control method for rail beam under small suspension gap of high-speed maglev train Technical Field The invention relates to the field of magnetic levitation trains, in particular to an anti-collision/adsorption constraint control method for a track beam under a small levitation gap of a high-speed magnetic levitation train. Background The high-speed magnetic levitation train is gradually establishing strategic status in future comprehensive traffic system by virtue of the remarkable advantages of high speed, low noise, high comfort and the like, and is inducing continuous research on hot tide in the global scope. However, the technology reveals excellent performance and also exposes a key bottleneck that huge suspension energy consumption not only weakens the economic competitiveness of the technology, but also forms a serious challenge for sustainable development of the technology. From the global perspective, the high operation cost of the suspension system has become a major obstacle for restricting industrial army enterprises to realize technical large-scale popularization. The high-speed magnetic levitation train is worthy of being concerned that the problem of double constraint of wheel-rail contact and magnetic rail adsorption is faced in the levitation running process, and the phenomenon that on one hand, the risk of mechanical collision between wheels and rails exists, and on the other hand, the adsorption deadlock phenomenon between electromagnets and rails also exists. In order to reduce the energy consumption caused by a larger suspension air gap, the suspension air gap is required to be compressed, however, the reduction of the air gap can obviously raise the risk of rail deadlock, and disturbance factors such as rail irregularity, thermal expansion and cold contraction and the like can also have adverse effects on the stability of the system. Therefore, strict constraint is required to be implemented on the train suspension position, so that stable suspension is realized under the condition of a tiny air gap, and the running stability of the system under all working conditions is ensured. When the air gap is reduced, the wheel track gap and the magnetic track gap are non-uniform, and differential requirements are set for the sensitivity of the controller. In addition, the magnetic levitation train system has the characteristics of high nonlinearity, harsh transient performance indexes and unstable nature, so that the stable control under the tiny air gap is particularly complex under the condition of considering the inconsistent safety constraint condition of the wheel track gap and the magnetic track gap. Therefore, the anti-collision/adsorption constraint control method for the track beam under the small suspension gap of the high-speed magnetic levitation train aims to ensure that the train realizes safe and stable suspension operation under the tiny air gap, and the running target with low suspension power consumption is considered while the non-uniformity of the safety constraint of the wheel track gap and the magnetic track gap is fully considered. Disclosure of Invention Aiming at the defects and the blank of the prior art, the invention provides the anti-collision/adsorption constraint control method for the track beams under the small levitation gap of the high-speed maglev train, and the anti-collision/adsorption constraint control method for the track beams under the small levitation gap of the high-speed maglev train is used for designing an asymmetric preset performance function aiming at the characteristics that the gap between the wheel tracks and the gap between the magnet and the track are in contradiction when the high-speed maglev train is levitated under the small air gap, so that the sensitivity of the high-speed maglev train to the gap errors between the wheel tracks and the magnet and the track is different, and the gap safety constraint between the wheel tracks and the magnet and the track is considered to be inconsistent, so that the high-speed maglev train is limited in the set constraint boundary, and the safety problems of preventing the wheel track collision and the magnet and the track are solved, and the high-speed maglev train is ensured to safely run under the small air gap. In order to achieve the purpose, the invention provides an anti-collision/adsorption constraint control method for a track beam under a small suspension gap of a high-speed magnetic levitation train, which comprises the following steps: step 1, establishing an asymmetric preset performance constraint function based on safety constraint among a skid, an electromagnet and a track beam; Step 2, constructing a high-speed magnetic levitation train suspension air gap dynamic model containing gaps between skids and track beams; Step 3, designing a model prediction position controller based on asymmetric preset performance constraint; step 4, designing a model p