具时滞效应的磁浮车辆悬浮系统的记忆型稳定性控制方法研究

The time-delay of maglev vehicle is inevitable during levitation control loop. The high-speed and track irregularities will amplify the time-delay effect, which will result in dynamic phenomena such as limit cycles and bifurcations, and even lead to levitation failure. In order to ensure the adaptability and reliability of maglev vehicles in complex working environments, the study on time-delay stability control under non-ideal network is planned. Firstly, the vehicle-rail-network time-delay dynamics complex model for Maglev Vehicle System is established, and converted into a global nonlinear T-S fuzzy time-delay model. On this basis, the adaptive fuzzy observer is designed by parallel distribution compensation method, and the non-measurable state feedback is realized by state reconstruction. Under the influence of time delay and uncertainty, a novel memory H∞ fuzzy controller with observer is proposed. The delay-dependent conditions that satisfy H∞ performance and quadratic stability by constructing Lyapunov functional and LMI techniques, and the gain is designed by solving the convex optimization problem, which can suppress the influence of time-delay on the system and increase the robustness. Finally, a time-delay control experiment will be carried out by using the Sino-German combined maglev vehicle-guideway interaction test-bed to verify the effectiveness of the proposed control method. The study results will help to reveal the dynamic characteristics of maglev system with time-delay, and will provide basic theories and methods for developing high reliability and high adaptability maglev vehicles in China.

磁浮车辆悬浮系统控制环节延时不可避免，高速和轨道不平顺等因素会放大时滞效应，产生极限环和分岔等动力学现象，甚至导致悬浮失效。为了保证磁浮车辆在复杂工作环境中运行的适应性和可靠性，项目拟在非理想网络下展开时滞稳定性控制研究。首先，建立磁浮车辆系统的车-轨-网时滞动力学复杂模型，并转换为全局非线性的T-S模糊时滞模型；在此基础上，采用平行分布补偿法设计自适应模糊观测器，通过状态重构实现不可测状态的有效反馈；考虑时滞与干扰影响，提出新型带观测器的记忆型H∞模糊控制器，利用构造Lyapunov泛函和LMI技术取得满足H∞性能且二次稳定的时滞依赖条件，并通过求解凸优化问题来设计增益，抑制时滞对系统的影响，同时增加鲁棒性。最后，应用中德联合磁浮车轨耦合试验台进行时滞控制实验，以验证所提控制方法的有效性。项目成果有助于深入揭示磁悬浮时滞动力学特性，为我国研制高可靠性与高适应性磁浮车辆提供基础理论和方法。