基于模型预测控制高速磁浮单电磁铁悬浮系统仿真分析
郭旭腾1王春江1唐志远2江守亮2刘宁2
Simulation Analysis for High-Speed Maglev Single Electromagnet Levitation System Based on Model Predictive Control
GUO Xuteng1WANG Chunjiang1TANG Zhiyuan2JIANG Shouliang2LIU Ning2
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作者信息:1.上海交通大学船舶海洋与建筑工程学院， 200240， 上海
2.中车青岛四方机车车辆股份有限公司高速磁浮运载技术全国重点试验室， 266111， 青岛
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Affiliation:1.School of Ocean and Civil Engineering, Shanghai Jiao Tong University, 200240, Shanghai,China
2.CRRC Qingdao Sifang Co., Ltd., State Key Laboratory of High-speed Maglev Transportation Technology, 266111, Qingdao, China
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关键词:
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Key words:
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DOI:10.16037/j.1007－869x.20245029
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中图分类号/CLCN:U292.91+7
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栏目/Col:车辆制造与列车控制
摘要:
［目的］现有的高速磁浮悬浮控制器多采用PID（比例-积分-微分)控制器，但由于磁浮系统具有强非线性和开环不稳定性，传统PID控制难以满足性能要求。为提升控制性能，特开展基于MPC（模型预测控制）的高速磁浮单电磁铁悬浮系统仿真研究。［方法］基于反馈线性化镇定方法建立常导高速磁浮单电磁铁的线性化镇定模型和状态反馈镇定控制器(以下简称“FK”)；在此基础上开发高速磁浮单电磁铁MPC控制器；通过Matlab/Simulink软件仿真平台，进行MPC控制器参数优化，并对比分析FK、PID和MPC三种控制器在多参数响应、2 kN阶跃干扰下的稳定性、响应速度及鲁棒性等性能指标。［结果及结论］MPC控制器在稳定时间方面仅为PID和FK控制器的1/10，同时在超调量、鲁棒性和抗干扰能力等方面均表现出显著优势。
Abstracts:
［Objective］ Existing high-speed maglev levitation controllers mostly adopt PID (proportional-integral-derivative) controllers. However, due to the strong nonlinearity and open-loop instability of the maglev system, traditional PID control is hard to meet performance requirements. To improve the control performance, a simulation study of the high-speed maglev single electromagnet levitation system based on MPC (model predictive control) is specially carried out. ［Method］ Based on the feedback linearization stabilization method, a linearized stabilization model for the normal-conducting high-speed maglev single electromagnet is established, and an state feedback stabilization controller（hereinafter referred to as "FK"） is designed. On this basis, an MPC controller for the high-speed maglev single electromagnet is developed. Through the Matlab/Simulink software simulation platform, the MPC controller parameters are optimized, and the performance indicators of FK, PID and MPC three controllers, such as the stability under multi-parameter responses and 2 kN step disturbances, the response speed and robustness are compared and analyzed. ［Result & Conclusion］ The MPC controller shows a stabilization time that is only 1/10 of that of PID and FK controllers. Meanwhile, it shows significant advantages in terms of overhang, robustness and anti-interference ability.
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