CN-122008891-A - Suspension system control method, device, equipment and medium of high-speed maglev train

CN122008891ACN 122008891 ACN122008891 ACN 122008891ACN-122008891-A

Abstract

The application discloses a suspension system control method, device, equipment and medium of a high-speed maglev train, and relates to the technical field of maglev control. The method comprises the steps of constructing a target dynamics model of a single-point suspension system, applying time-varying constraint to a dynamic track of a suspension gap tracking error by using a preset performance function, converting the constrained error into an unconstrained variable by using a preset mapping function, designing a sliding mode surface comprising a nonlinear power term and a piecewise continuous function based on the unconstrained variable, generating actual control voltage based on a compensation signal and the sliding mode surface output by an anti-saturation auxiliary system, wherein the actual control voltage comprises an equivalent control law for maintaining the sliding of the unconstrained variable on the sliding mode surface and an approaching control law for driving the unconstrained variable to reach the sliding mode surface, and adjusting voltages at two ends of an electromagnet coil according to the actual control voltage to control the suspension gap. By the technical scheme, the rapid convergence and the robustness improvement of the high-speed maglev train levitation system can be realized.

Inventors

WANG ZHIQIANG
LI ZIKANG
TIAN YUGUANG
HUANG CUICUI
LI XIAOLONG
LONG ZHIQIANG

Assignees

中国人民解放军国防科技大学

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. A suspension system control method of a high-speed maglev train is characterized by comprising the following steps: constructing a target dynamics model of the single-point suspension system; Defining a tracking error of a suspension gap based on the target dynamics model, and applying time-varying constraint on a dynamic track of the tracking error by utilizing a preset performance function to obtain a constraint error; converting the constraint error into an unconstrained variable through a preset mapping function, and designing a sliding mode surface containing a nonlinear power term and a piecewise continuous function based on the unconstrained variable; The method comprises the steps of constructing an anti-saturation auxiliary system, and generating an actual control voltage based on a compensation signal output by the anti-saturation auxiliary system and the sliding mode surface, wherein the anti-saturation auxiliary system is used for compensating the input saturation influence of an electromagnet, the actual control voltage comprises an equivalent control law and an approach control law, the equivalent control law is used for maintaining the unconstrained variable to slide on the sliding mode surface, and the approach control law is used for driving the unconstrained variable to reach the sliding mode surface; and regulating the voltage at two ends of the electromagnet coil according to the actual control voltage so as to control the levitation gap.
2. The method for controlling a levitation system of a high-speed maglev train according to claim 1, wherein the constructing a target dynamics model of a single-point levitation system comprises: Constructing a dynamics model of a single-point suspension system considering track irregularity, wherein a system equation of the dynamics model is as follows: Wherein, the method comprises the steps of, For the electromagnet mass, z is the distance of the pole surface relative to the absolute reference plane, t is the current time, Is that G is the gravity acceleration value, As the electromagnetic force, there is provided, For the external random disturbance to be present, The magnetic permeability is realized, N is the number of turns of an electromagnet coil, S is the area of an electromagnet magnetic pole, i is exciting current of a levitation electromagnet, A suspension gap, r is the track irregularity; defining state variables and converting the dynamics model into a state space form to obtain the target dynamics model, wherein the state variables are defined by the method The system equation of the state space form target dynamics model is: ; , , For the control input, the control signal is provided, Is the total disturbance caused by external disturbances and the track irregularities.
3. The levitation system control method of a high-speed maglev train according to claim 2, wherein defining a tracking error of a levitation gap based on the target dynamics model and applying a time-varying constraint to a dynamic trajectory of the tracking error using a preset performance function to obtain a constraint error, comprises: defining a tracking error of a suspension gap based on the target dynamics model, wherein the tracking error is , In order to provide for the suspension gap to be defined, A reference input value for the levitation gap; Designing a preset performance function, and applying time-varying constraint to the dynamic track of the tracking error by using the preset performance function to obtain constraint error, wherein the preset performance function is as follows: Wherein T is the transition time of the preset performance function from the initial state to the steady state, T is the current time, The parameters are adjusted for the shape of the curve, For an initial value of the preset performance function, And the final value of the preset performance function is obtained.
4. A levitation system control method of a high-speed maglev train according to claim 3, wherein converting the constraint error into an unconstrained variable by a preset mapping function comprises: defining a relative error based on the preset performance function and the constraint error, and setting a corresponding boundary condition for the relative error, wherein the relative error is: The boundary conditions are as follows: , wherein, 、 Is a preset boundary parameter, which is a preset boundary parameter, An initial value of the tracking error; designing a preset mapping function, and converting the relative error into an unconstrained variable through the preset mapping function, wherein the preset mapping function is as follows: , wherein, In order to switch the item of the symbol, Is the first to-be-designed parameter.
5. The method for controlling a levitation system of a high-speed maglev train according to claim 4, wherein the slip-form surface is designed as: Wherein, the method comprises the steps of, As a first-order unconstrained variable, Is a second-order unconstrained variable, 、 As a second parameter to be designed, , As a function of the sign of the symbol, As a function of the succession of segments, 、 As a third parameter to be designed, Is a segmentation threshold.
6. The method of claim 5, wherein constructing an anti-saturation auxiliary system and generating an actual control voltage based on the compensation signal output by the anti-saturation auxiliary system and the slip form surface, comprises: defining input saturation deviation and designing anti-saturation auxiliary system based on the input saturation deviation, wherein the input saturation deviation is , The anti-saturation auxiliary system is characterized in that: Wherein, the method comprises the steps of, 、 As a fourth parameter to be designed, For the output of the anti-saturation auxiliary system, Is that S is the sliding mode surface, T is the transition time of the preset performance function from the initial state to the steady state, As a result of the initial threshold value, Is a 2-norm; designing an equivalent control law: ; designing an approach control law: wherein q is , 、、 Is a fifth to-be-designed parameter; And fusing the equivalent control law and the approaching control law, and generating actual control voltage based on the compensation signal output by the anti-saturation auxiliary system and the sliding mode surface.
7. The levitation system control method of a high-speed maglev train according to any one of claims 1 to 6, wherein the adjusting the voltage across the electromagnet coil according to the actual control voltage to control the levitation gap comprises: Discretizing a control algorithm for generating the actual control voltage by using a forward Euler method, and embedding the discretized control algorithm into a suspension controller; Based on the suspension controller, real-time communication is carried out between the suspension controller and a suspension operation platform through a controller local area network bus so as to receive sensor data acquired by the suspension operation platform on line; and executing the discretized control algorithm by using the suspension controller according to the sensor data, and outputting the actual control voltage to adjust the voltage at two ends of the electromagnet coil so as to control the suspension gap.
8. A levitation system control apparatus of a high-speed maglev train, comprising: the model construction module is used for constructing a target dynamics model of the single-point suspension system; The constraint design module is used for defining a tracking error of a suspension gap based on the target dynamics model, and applying time-varying constraint on a dynamic track of the tracking error by utilizing a preset performance function so as to obtain a constraint error; the sliding mode surface design module is used for converting the constraint errors into unconstrained variables through a preset mapping function and designing a sliding mode surface containing nonlinear power terms and piecewise continuous functions based on the unconstrained variables; The control law design module is used for constructing an anti-saturation auxiliary system and generating actual control voltage based on a compensation signal output by the anti-saturation auxiliary system and the sliding mode surface, wherein the anti-saturation auxiliary system is used for compensating the input saturation influence of an electromagnet; and the control implementation module is used for adjusting the voltages at two ends of the electromagnet coil according to the actual control voltage so as to control the levitation gap.
9. An electronic device comprising a processor and a memory, wherein the memory is configured to store a computer program that is loaded and executed by the processor to implement the levitation system control method of a high-speed maglev train according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the levitation system control method of a high-speed maglev train according to any one of claims 1 to 7.

Description

Suspension system control method, device, equipment and medium of high-speed maglev train Technical Field The invention relates to the technical field of magnetic levitation control, in particular to a levitation system control method, a device, equipment and a medium of a high-speed magnetic levitation train. Background The high-speed magnetic levitation train realizes the levitation of the vehicle through electromagnetic force, eliminates the contact of wheel and rail, and has the advantages of ultra-high speed operation, low noise, high energy efficiency and the like. As a core subsystem of the high-speed magnetic levitation train, the electromagnetic levitation system needs to accurately regulate and control an air gap of 8-10mm, allows the deviation to be not more than +/-4 mm, and has extremely high requirements on the response speed and reliability of the controller. However, suspension systems are inherently open-loop unstable and strongly nonlinear, and are susceptible to external disturbances such as track irregularities, aerodynamic disturbances, etc., resulting in suspension gap instability. The existing control scheme still has a plurality of unresolved technical problems, and the actual operation requirement of the high-speed magnetic levitation suspension system is difficult to meet. Firstly, the problem of input saturation is not fully considered, the control force of the suspension controller is limited by the vehicle-mounted power supply voltage and can only be changed within a specific range, and neglecting the constraint easily leads to control performance degradation and even system instability. Secondly, the suitability of the convergence characteristic of the fixed time is insufficient, the existing fixed time control method is mostly aimed at a linear system or a disturbed pure integration system, the electromagnetic suspension system has the characteristics of open loop instability and strong nonlinearity, is obviously influenced by load change and air gap fluctuation, and has larger limitation in directly applying the existing method. Moreover, the suitability of the preset performance control is poor, the existing preset performance control scheme assumes ideal work of an actuator, nonlinearity and uncertainty of an electromagnetic suspension system are not fully considered, and transient and steady state characteristics of tracking errors cannot be effectively restrained through a preset performance function. In addition, the air gap adjustable range of the electromagnetic suspension system is limited, the requirements on the response speed and reliability of the controller are high, the robustness of the existing scheme under multiple disturbance (including track irregularity, aerodynamic force and the like) is insufficient, the air gap balance is difficult to maintain stably, and the core reason is that the deep fusion of input constraint, fixed time convergence and preset performance control is not realized, and the problems caused by nonlinearity, disturbance and input saturation cannot be cooperatively solved. Disclosure of Invention In view of the above, the invention aims to provide a suspension system control method, a device, equipment and a medium for a high-speed maglev train, which can realize the omnibearing promotion of suspension control precision, response speed, robustness and engineering practicability and provide an efficient control solution for the stable and reliable operation of the high-speed maglev train. The specific scheme is as follows: in a first aspect, the application discloses a levitation system control method of a high-speed maglev train, comprising the following steps: constructing a target dynamics model of the single-point suspension system; Defining a tracking error of a suspension gap based on the target dynamics model, and applying time-varying constraint on a dynamic track of the tracking error by utilizing a preset performance function to obtain a constraint error; converting the constraint error into an unconstrained variable through a preset mapping function, and designing a sliding mode surface containing a nonlinear power term and a piecewise continuous function based on the unconstrained variable; The method comprises the steps of constructing an anti-saturation auxiliary system, and generating an actual control voltage based on a compensation signal output by the anti-saturation auxiliary system and the sliding mode surface, wherein the anti-saturation auxiliary system is used for compensating the input saturation influence of an electromagnet, the actual control voltage comprises an equivalent control law and an approach control law, the equivalent control law is used for maintaining the unconstrained variable to slide on the sliding mode surface, and the approach control law is used for driving the unconstrained variable to reach the sliding mode surface; and regulating the voltage at two ends of the electromagnet coil according t