CN-122008893-A - Method for inhibiting track irregularity of magnetic levitation train

CN122008893ACN 122008893 ACN122008893 ACN 122008893ACN-122008893-A

Abstract

The application discloses a method for inhibiting track irregularity of a maglev train, and relates to the technical field of maglev trains. The method comprises the steps of constructing a target dynamics model of a single-point suspension system considering track irregularity, constructing a reduced-order extended state observer, utilizing measurable suspension gap signals to estimate an undetectable state in the system and lumped disturbance caused by unmatched disturbance in real time, designing a self-adaptive dynamic surface control law comprising a self-adaptive item and a first-order low-pass filter in a recursion mode, utilizing the self-adaptive dynamic surface control law to generate final actual control voltage, utilizing the self-adaptive item to estimate on line and compensate unmatched disturbance, utilizing the first-order low-pass filter to filter the virtual control law, and regulating voltages at two ends of a suspension electromagnet coil according to the actual control voltage to inhibit disturbance of the track irregularity on the suspension gap. By the technical scheme, the inhibition capability and the system stability of the track irregularity disturbance under high-speed operation are effectively improved.

Inventors

ZENG JIEWEI
LI ZIKANG
WANG HAIZHI
HUANG CUICUI
WANG ZHIQIANG
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. The method for inhibiting the track irregularity of the maglev train is characterized by comprising the following steps of: Constructing a target dynamics model of a single-point suspension system, wherein the target dynamics model introduces track irregularity as non-matching disturbance into the system; Constructing a reduced-order extended state observer, and estimating an undetectable state in the target dynamics model and lumped disturbance caused by the unmatched disturbance in real time by using a measurable suspension gap signal; Based on the unmeasurable state and the lumped disturbance, designing an adaptive dynamic surface control law comprising an adaptive term and a first-order low-pass filter in a recursive manner, and generating a final actual control voltage by using the adaptive dynamic surface control law, wherein the adaptive term is used for estimating and compensating the unmatched disturbance on line, and the first-order low-pass filter is used for filtering the virtual control law to generate a smooth derivative approximation value; and regulating the voltage at two ends of the suspension electromagnet coil according to the actual control voltage so as to inhibit disturbance of the track irregularity on the suspension gap.
2. The method for suppressing track irregularity of a maglev train according to claim 1, wherein the constructing the target dynamics model of the single-point levitation system comprises: constructing a basic dynamics model of a single-point suspension system; introducing track irregularity into the basic dynamics model, and correcting a suspension gap by utilizing a difference value between an actual track surface and a reference track surface caused by the track irregularity so as to obtain an actual suspension gap; and defining a state variable based on the actual suspension gap and the suspension electromagnet current, and converting the basic dynamics model into a target dynamics model in a state space form based on the state variable.
3. The method for suppressing track irregularity of a maglev train according to claim 2, wherein the basic dynamics model includes an electromagnetic force equation, a force balance equation, and a voltage equation: Wherein, the method comprises the steps of, As the electromagnetic force, there is provided, For the current of the levitation electromagnet, In order to suspend the gap in the air, Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum, For suspending the number of turns of the coil of the electromagnet, For the area of the magnetic pole of the suspension electromagnet, For the mass of the suspension electromagnet, Is that G is the second derivative of the gravitational acceleration, For the voltage applied across the electromagnet, Is the equivalent resistance value of the electromagnet, Is that Is the first derivative of (a); The actual suspension clearance is R is the difference between the actual track surface and the reference track surface caused by the track irregularity, , wherein, For the magnitude of track irregularity, v is the train running speed, Track Liang Kuaju, t is the run time; the defined state variables include the following steps of enabling , , The state equation of the target dynamics model is as follows: 。
4. The method for suppressing track irregularity of a maglev train according to claim 1, wherein the reduced-order extended-state observer has an expression of: ; Wherein, the To compensate for the variables of the system, Is that A, b, For lumped parameters of the reduced-order extended state observer, Respectively the unmeasurable states 、 The lumped disturbance Is used for the estimation of the (c), For the observer gain to be designed, For the non-matching perturbation to be present, Is that Is used for the estimation of the (c), Is that Is used as a first derivative of (a), Is that Is used for the estimation of the (c), For the voltage applied across the electromagnet, Is a measurable levitation gap signal.
5. The method for suppressing track irregularity of a maglev train of claim 4, further comprising: setting the gain of the observer to be designed of the reduced-order expanded state observer by a bandwidth parameterization method, wherein, , , , And (3) presetting the observer bandwidth, wherein the preset observer bandwidth is larger than a preset multiple of the system control bandwidth.
6. The method of claim 4, wherein recursively designing an adaptive dynamic surface control law including an adaptive term and a first order low pass filter based on the non-measurable state and the lumped disturbance and generating a final actual control voltage using the adaptive dynamic surface control law comprises: Defining a first group of state errors, and designing a first virtual control law and an adaptive term for online estimation and compensation of the non-matching disturbance according to the first group of state errors, wherein the first group of state errors comprise a suspension gap tracking error and a non-matching disturbance estimation error; Filtering the first virtual control law through a first-order low-pass filter to obtain a first smooth derivative approximation value; Defining a second set of state errors based on the first smoothed derivative approximation and designing a second virtual control law based on the second set of state errors, the second set of state errors including a first filter error and a first dynamic surface error; filtering the second virtual control law through a second first-order low-pass filter to obtain a second smooth derivative approximation value; Defining a third set of state errors based on the second smooth derivative approximation and designing an actual control law from the third set of state errors, the third set of state errors including a second filter error and a second dynamic plane error; And generating a final actual control voltage by using an actual control voltage expression corresponding to the actual control law.
7. The method for suppressing a track irregularity of a maglev train of claim 6, The suspension gap tracking error is The non-matching disturbance estimation error is , Is a suspension gap reference value, the first virtual control law is , For the first feedback control coefficient to be designed, Is that Is the first derivative of (a); the adaptive term is , 、 The method comprises the steps of designing self-adaptive item parameters for a to-be-designed object; the first-order low-pass filter is designed as follows: ; Is the time constant of the first filter, For the first filter output, corresponding to the first smoothed derivative approximation , Is that Is used as a first derivative of (a), For the initial value of the first filter, The initial value of the first virtual control law at the control starting moment is set; the first filter error is The first dynamic surface error is The second virtual control law is , A feedback control coefficient is designed for the second to-be-designed; The second first order low pass filter is designed to: ; Is the time constant of the second filter, For the second filter output, corresponding to the second smooth derivative approximation , Is that Is used as a first derivative of (a), For the initial value of the second filter, The initial value of the second virtual control law at the control starting moment is set; the second filter error is The second dynamic surface error is The actual control voltage expression corresponding to the actual control law is , And designing a feedback control coefficient for the third standby.
8. The method for suppressing track irregularity of a maglev train of claim 7, further comprising: Setting an initial value according to the expected dynamic performance of a closed-loop system, and performing simulation iterative optimization, wherein under the condition that the actual control voltage does not exceed a preset amplitude control quantity and measurement noise is not amplified to a preset threshold value, the first feedback control coefficient to be designed, the second feedback control coefficient to be designed and the third feedback control coefficient to be designed are gradually increased until the inhibition effect of the closed-loop system on the track irregularity disturbance reaches a preset index, and the closed-loop system is an integral body formed by the target dynamic model and the adaptive dynamic surface control law.
9. The method for suppressing track irregularity of a maglev train of claim 8, further comprising: An observer gain matrix is designed and configured so that a system matrix of the closed-loop system meets a Hurwitz stability condition to enable a system state of the closed-loop system to converge to a balance point neighborhood in a limited time.
10. The method for suppressing track irregularity of a maglev train according to any one of claims 1 to 9, further comprising, before adjusting the voltage across the levitation electromagnet coil according to the actual control voltage to suppress disturbance of the track irregularity to a levitation gap: Discretizing the self-adaptive dynamic surface control law by utilizing a forward Euler method, and embedding the discretized self-adaptive dynamic surface control law 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 self-adaptive dynamic surface control law by using the suspension controller according to the sensor data so as to acquire the actual control voltage.

Description

Method for inhibiting track irregularity of magnetic levitation train Technical Field The invention relates to the technical field of maglev trains, in particular to a method for inhibiting track irregularity of a maglev train. Background The high-speed magnetic levitation train realizes the non-contact levitation between the train body and the track through electromagnetic force, and realizes the traction drive of the train through the long stator linear synchronous motor, and the running performance of the high-speed magnetic levitation train is highly dependent on the geometric state of the track structure. In an actual operating environment, the rails inevitably have irregularities caused by manufacturing errors, installation deviations, foundation settlement, and long-term service. The unsmooth excitation of the rails can directly disturb the stability of the suspension gap, induce the vertical and transverse vibration of the vehicle body, and further influence the riding comfort, the system energy consumption and even the running safety. Especially under high-speed running conditions (such as above 400 km/h), minor track irregularities may be significantly amplified, leading to frequent adjustment or even saturation of the suspension controller, which may cause suspension instability or guiding failure in severe cases. Therefore, how to effectively inhibit the adverse effect of track irregularity on the dynamic performance of the suspension system becomes a key technical problem for improving the running quality and safety margin of the high-speed maglev train. Disclosure of Invention In view of the above, the invention aims to provide a method for inhibiting track irregularity of a maglev train, which can realize high-precision, strong-robustness and stable control of a high-speed maglev suspension system under the condition of track irregularity disturbance. The specific scheme is as follows: The application discloses a method for inhibiting track irregularity of a maglev train, which comprises the following steps: Constructing a target dynamics model of a single-point suspension system, wherein the target dynamics model introduces track irregularity as non-matching disturbance into the system; Constructing a reduced-order extended state observer, and estimating an undetectable state in the target dynamics model and lumped disturbance caused by the unmatched disturbance in real time by using a measurable suspension gap signal; Based on the unmeasurable state and the lumped disturbance, designing an adaptive dynamic surface control law comprising an adaptive term and a first-order low-pass filter in a recursive manner, and generating a final actual control voltage by using the adaptive dynamic surface control law, wherein the adaptive term is used for estimating and compensating the unmatched disturbance on line, and the first-order low-pass filter is used for filtering the virtual control law to generate a smooth derivative approximation value; and regulating the voltage at two ends of the suspension electromagnet coil according to the actual control voltage so as to inhibit disturbance of the track irregularity on the suspension gap. Optionally, the constructing the target dynamics model of the single-point suspension system includes: constructing a basic dynamics model of a single-point suspension system; introducing track irregularity into the basic dynamics model, and correcting a suspension gap by utilizing a difference value between an actual track surface and a reference track surface caused by the track irregularity so as to obtain an actual suspension gap; and defining a state variable based on the actual suspension gap and the suspension electromagnet current, and converting the basic dynamics model into a target dynamics model in a state space form based on the state variable. Optionally, the basic dynamics model includes an electromagnetic force equation, a stress balance equation, and a voltage equation: Wherein, the method comprises the steps of, As the electromagnetic force, there is provided,For the current of the levitation electromagnet,In order to suspend the gap in the air,Is the magnetic permeability of the vacuum and is equal to the magnetic permeability of the vacuum,For suspending the number of turns of the coil of the electromagnet,For the area of the magnetic pole of the suspension electromagnet,For the mass of the suspension electromagnet,Is thatG is the second derivative of the gravitational acceleration,For the voltage applied across the electromagnet,Is the equivalent resistance value of the electromagnet,Is thatIs the first derivative of (a); The actual suspension clearance is R is the difference between the actual track surface and the reference track surface caused by the track irregularity,, wherein,For the magnitude of track irregularity, v is the train running speed,Track Liang Kuaju, t is the run time; the defined state variables include the following steps of en