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摘要: 为了有效抑制磁悬浮车轨耦合振动, 将车轨耦合振动系统简化为单铁-弹性轨道模型, 利用状态观测器将轨道梁振动信息引入控制系统, 设计了全状态反馈最优控制器, 并基于dSPACE搭建了小比例弹性轨道梁磁悬浮耦合振动试验台。与传统控制方法进行了对比, 发现所提出的控制方法能够在较小的轨道梁刚度与无阻尼条件下依然保持悬浮系统的稳定; 阶跃响应的试验台测试结果表明, 利用所设计的控制器, 系统能够在0.3s进入稳定状态, 超调量仅为4%。分析结果表明: 所提出的控制方法能够有效抑制磁悬浮车轨耦合振动, 在满足稳定悬浮的同时, 降低了系统稳定性对轨道梁特性的过分依赖。Abstract: In order to effectively control maglev-guideway coupling vibration, maglev-guideway coupling vibration system was simplified as electromagnet-elastic-track model.A full-state feedback optimum controller was developed.The guideway vibration information was introduced into the control system by state observer.A small-scale elastic-track magnetic levitation test rig was built using dSPACE.Compared with the traditional controller, the proposed control strategy can always keep the system stable, even the guideway is rather soft and no damping effect exists.Step response tested from the test rig indicates that the developed controller can stabilize the system in 0.3 swith a overshot of 4%.Analysis result shows that the control strategy is able to effectively restrain the coupling vibration.Moreover, it reduces the over-dependence of the system stability on the guideway beam properties based on satisfying maglev stability.
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