CN109278567A - Fault-tolerant control method for permanent magnet and electromagnetic mixed type high-speed maglev train end electromagnet - Google Patents

Fault-tolerant control method for permanent magnet and electromagnetic mixed type high-speed maglev train end electromagnet Download PDF

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CN109278567A
CN109278567A CN201811200772.4A CN201811200772A CN109278567A CN 109278567 A CN109278567 A CN 109278567A CN 201811200772 A CN201811200772 A CN 201811200772A CN 109278567 A CN109278567 A CN 109278567A
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electromagnet
type high
maglev train
speed maglev
disturbance
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CN109278567B (en
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龙志强
王志强
程虎
李晓龙
翟明达
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National University of Defense Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/04—Magnetic suspension or levitation for vehicles
    • B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles

Abstract

The invention discloses a fault-tolerant control method for an electromagnet at the end part of a permanent-magnet electromagnetic mixed type high-speed maglev train, which comprises the following steps: step S100: respectively establishing permanent magnet and electromagnetic mixed type high-speed maglev train end electromagnet system models in normal and fault states; step S200: designing a disturbance observer aiming at the built system model, and observing unknown disturbance outside the system to obtain disturbance information; step S300: respectively carrying out feedback linearization processing on the system models in the normal state and the fault state; step S400: designing controllers respectively aiming at the system models in normal and fault states after feedback linearization processing; step S500: detecting the state of a suspension system of the maglev train on line, wherein a controller in a normal state is adopted when the suspension system is normal; and when the suspension system is in fault, a disturbance observer and a controller in a fault state are adopted. When a single suspension point of the end electromagnet fails, the disturbance suppression effect is realized without depending on a system balance point, so that the suspension control performance of the magnetic-levitation train is improved.

Description

The fault tolerant control method of hybrid magnets type high-speed maglev train end electromagnet
Technical field
The present invention relates to magnetic-levitation train field more particularly to hybrid magnets type high-speed maglev train end electromagnet Fault tolerant control method.
Background technique
Fig. 1 is hybrid magnets type high-speed maglev train end electromagnet schematic diagram.Fig. 2 is that hybrid magnets type is high Speed magnetic suspension train end electromagnet structure schematic diagram.High-speed maglev train is using bridging arrangement as basic floating unit, group It is connected respectively with the trailing arm 3 in suspended frame for two electromagnet 1 by disk spring 2 at mode, the two is common by suspended frame Undertake the load of car body 4.As shown in Figure 1, two electromagnet 1 in bridging arrangement are rigidly connected, commonly through trailing arm 3 Support car body 4.The local feature of end electromagnet can be found in Fig. 2.
Found in actual test, when individually suspend in the electromagnet of end point failure when, it is positive and negative due to remaining permanent magnet Feedback effect, hybrid magnets type high-speed magnetic floating, which is compared to, often leads high-speed magnetic floating with worse suspension effect.In order to solve This problem, traditional faults-tolerant control designs controller to normal and fault model respectively mainly according to switching method, according to failure Diagnostic result selection control.But this method relies on equalization point, and it is poor to disturb lower effect.
Therefore, how when hybrid magnets type high-speed maglev train end electromagnet individually suspension point failure, Independent of the system balancing point of hybrid magnets type high-speed maglev train, Disturbance Rejection effect is realized, it is floating to magnetic to improve The suspension control performance of train becomes the problem of those skilled in the art's urgent need to resolve.
Summary of the invention
The technical problem to be solved by the present invention is to overcome drawbacks described above of the existing technology, provide hybrid magnets The fault tolerant control method of type high-speed maglev train end electromagnet, when hybrid magnets type high-speed maglev train end electromagnet When single suspension point failure, independent of the system balancing point of hybrid magnets type high-speed maglev train, Disturbance Rejection is realized Effect, to improve the suspension control performance to magnetic-levitation train.
The technical solution used to solve the technical problems of the present invention is that:
A kind of fault tolerant control method of hybrid magnets type high-speed maglev train end electromagnet, the method includes with Lower step:
Step S100: the hybrid magnets type high-speed maglev train end electromagnetism under normal and malfunction is established respectively Iron system model；
Step S200: for the end electromagnet system modelling disturbance observation under the normal and malfunction put up Device obtains disturbance information for unknown disturbance outside observation system；
Step S300: the end electromagnet system model under normal and malfunction is carried out at feedback linearization respectively Reason；
Step S400: respectively for the feedback linearization end electromagnet system mould that treated normally and under malfunction Type carries out controller design；
Step S500: the suspension system state of on-line checking hybrid magnets type high-speed maglev train, suspension system is just Using the controller under normal condition when often；Using the disturbance observer and controller under malfunction when suspension system failure, To realize the stability contorting to the suspension system of hybrid magnets type high-speed maglev train.
Preferably, the hybrid magnets type high-speed maglev train end electromagnet in the step S100 under normal condition System model are as follows:
Wherein, x1For levitation gap, x2For electromagnet speed,WithRespectively x1And x2Derivative, z0Between equalization point Gap, i0For equalization point electric current, m is electromagnetism weight of iron, u1For left side magnet control voltage, u2For right side magnet control voltage, kpe, α and β be intermediate variable without meaning.
Preferably, the hybrid magnets type high-speed maglev train end electromagnet in the step S100 under malfunction System model are as follows:
Preferably, disturbance observer in the step S200 are as follows:
Wherein,For intermediate sight value,ForDerivative, L be observer parameter, Fpe1The magnetic generated for left side electromagnet Power, Fpe2For the magnetic force that right side electromagnet generates, M is equivalent load quality, and g is acceleration of gravity, and p isWithBetween difference Value,For the observation of disturbance.
Preferably, the end electromagnet system model in the step S300 under normal condition carries out feedback linearization processing Specifically:
In formula, x is system state variables,For the derivative of x, u is control variable, and y is that system exports, f (x), g (x) and H's (x) specifically:
Wherein, FdIt is electromagnet by external disturbance power, i1For electric current in the electromagnet coil of left side, i2For right side electromagnet Electric current in coil.
Preferably, the end electromagnet system model in the step S300 under malfunction carries out feedback linearization processing Specifically:
Wherein, w is disturbance.
Preferably, the controller in the step S400 under normal condition specifically:
Wherein, En(x),vnTransition matrix respectively under normal condition, Lee derivative and control law.
Preferably, the controller in the step S400 under malfunction specifically:
Wherein, Ef(x),vfTransition matrix respectively under malfunction, Lee derivative and control law.
When hybrid magnets type high-speed maglev train end electromagnet individually suspension point failure, independent of Permanent Magnet and Electric The system balancing point of magnetic mixed high-speed magnetic-levitation train is had faults-tolerant control ability to single point failure, is seen using disturbance observer It surveys and realizes Disturbance Rejection effect, to improve the suspension control performance to magnetic-levitation train.
Detailed description of the invention
Fig. 1 is hybrid magnets type high-speed maglev train end electromagnet schematic diagram；
Fig. 2 is hybrid magnets type high-speed maglev train end electromagnet structure schematic diagram；
Fig. 3 is a kind of faults-tolerant control side of hybrid magnets type high-speed maglev train end electromagnet provided by the invention The flow chart of method；
Fig. 4 is a kind of faults-tolerant control side of hybrid magnets type high-speed maglev train end electromagnet provided by the invention The faults-tolerant control and Disturbance Rejection effect picture of method；
Fig. 5 is the faults-tolerant control for scheming a kind of hybrid magnets type high-speed maglev train end electromagnet provided by the invention Fault-tolerant and anti-interference result figure of the method in the case where becoming equalization point.
Specific embodiment
In order that those skilled in the art will better understand the technical solution of the present invention, with reference to the accompanying drawing to the present invention It is described in further detail.
Referring to Fig. 3 to Fig. 5, Fig. 3 is the hybrid magnets type high-speed maglev train end that the first embodiment provides The flow chart of the fault tolerant control method of electromagnet, Fig. 4 are a kind of hybrid magnets type high-speed maglev train provided by the invention The faults-tolerant control and Disturbance Rejection effect picture of the fault tolerant control method of end electromagnet；Fig. 5 is to scheme one kind provided by the invention forever Fault-tolerant and anti-interference result of the fault tolerant control method of magnetoelectricity magnetic mixed high-speed magnetic-levitation train end electromagnet in the case where becoming equalization point Figure.
The fault tolerant control method of hybrid magnets type high-speed maglev train end electromagnet, the method includes following steps It is rapid:
Step S100: the hybrid magnets type high-speed maglev train end electromagnetism under normal and malfunction is established respectively Iron system model；
Step S200: for the end electromagnet system modelling disturbance observation under the normal and malfunction put up Device obtains disturbance information for unknown disturbance outside observation system；
Step S300: the end electromagnet system model under normal and malfunction is carried out at feedback linearization respectively Reason；
Step S400: respectively for the feedback linearization end electromagnet system mould that treated normally and under malfunction Type carries out controller design；
Step S500: the suspension system state of on-line checking hybrid magnets type high-speed maglev train, suspension system is just Using the controller under normal condition when often；Using the disturbance observer and controller under malfunction when suspension system failure, To realize the stability contorting to the suspension system of hybrid magnets type high-speed maglev train.
When hybrid magnets type high-speed maglev train end electromagnet individually suspension point failure, independent of Permanent Magnet and Electric The system balancing point of magnetic mixed high-speed magnetic-levitation train is had faults-tolerant control ability to single point failure, is seen using disturbance observer It surveys and realizes Disturbance Rejection effect, to improve the suspension control performance to magnetic-levitation train.
The specific implementation of each step will be further told about below.
The fault tolerant control method of hybrid magnets type high-speed maglev train end electromagnet, the method includes following steps It is rapid:
Step S100: the hybrid magnets type high-speed maglev train end electromagnetism under normal and malfunction is established respectively Iron system model；
The kinetic model of hybrid magnets type high-speed maglev train end electromagnet are as follows:
Wherein, m1For left side electromagnetism weight of iron, m2For right side electromagnetism weight of iron, z1For left side electromagnet gap, zzFor right side Electromagnet gap,For left side electromagnet acceleration,For right side electromagnet acceleration, Fpe1The magnetic generated for left side electromagnet Power, Fpe2For the magnetic force that right side electromagnet generates, M1For left load quality, M2For right load quality, Fd1For left side electromagnet The external disturbance power being subject to, Fd2For the external disturbance power that right side electromagnet is subject to, g is acceleration of gravity.
Due to symmetrical configuration, and end electromagnet module both the above electromagnet single-point is fixed together, without opposite fortune It is dynamic, so there is m1=m2=m, M1=M2=M, z1=z2=z, Equation of Motion can arrange are as follows:
Wherein, m is electromagnetism weight of iron, and M is equivalent load quality,For electromagnet acceleration, FdIt is electromagnet by the external world Perturbed force.
It is assumed that two independent electromagnet currents are equal at equalization point, i.e. i1=i2, i1It is electric in the electromagnet coil of left side Stream, i2For electric current in the electromagnet coil of right side.So there is equalization point electric current identical as single-point suspension system, after system linearization, Obtain the hybrid magnets type high-speed maglev train end electromagnet system model under normal condition:
Wherein, x1For levitation gap, x2For electromagnet speed,WithRespectively x1And x2Derivative, z0Between equalization point Gap, i0For equalization point electric current, u1For left side magnet control voltage, u2For right side magnet control voltage, kpe, α and β be centre Variable is without meaning.
kpe=μ0N2S；
α=Hczm/2N；
β=zmS/2μrSm；
Wherein, μ0For space permeability, μrFor permanent magnet relative permeability, S is the equivalent pole-face product of magnetic pole, SmFor permanent magnet Pole-face product, zmFor permanent magnetism body thickness, N is coil turn, HcFor coercive force coefficient.
Single suspension point failure does not have output voltage a little in general finger ends electromagnet.Assuming that single in the electromagnet of end It is zero failure that output voltage, which occurs, for a suspension point, at this point, left side electromagnet voltage might as well be set as zero, the magnetic that right side electromagnet generates Power Fpe2, the as magnetic force F that integrally generates of hybrid magnets type high-speed maglev train end electromagnetpeAre as follows:
Wherein, i1=i2=i, i are electromagnet acceleration, z1=z2=z, z are electromagnet gap.
System is linearized at this time, obtains the hybrid magnets type high-speed maglev train end electricity under malfunction Magnet system model are as follows:
It compares for suspending with single-point, current coefficient is reduced to original half, and gap factor is reduced to original 80%.
Step S200: for the end electromagnet system modelling disturbance observation under the normal and malfunction put up Device obtains disturbance information for unknown disturbance outside observation system；
It designs unknown disturbance outside the observation system of disturbance observer and obtains disturbance information, and disturbance is inhibited.
By system model it is found that disturbance quantity can directly be sought are as follows:
Wherein,For electromagnet acceleration, w is disturbance.
To reduce noise one, design disturbance observer design are as follows:
Wherein, L is observer parameter,For the observation of disturbance.Parameter L is observer convergence rate coefficient, and L gets over grand sight It is faster to survey device convergence.But increase L simultaneously and be also exaggerated noise, thus the selection of coefficient L should rapidity and noise suppressed it Between trade off.The disturbance observer applies acceleration information, in order to make the disturbance observer under accelerometer fault condition Still it can work, the observer of following form can be designed using the method for change of variable:
Wherein,For intermediate sight value,ForDerivative, p isWithBetween difference,
Under the observer, disturbance observer error edDynamical equation are as follows:
Wherein,WithRespectively ed, w andDerivative.
It can be seen that the error is also that index is convergent.
Step S300: the end electromagnet system model under normal and malfunction is carried out at feedback linearization respectively Reason；
The disturbance information observed can be used for carrying out feedback linearization to system, play the role of Disturbance Rejection.Below Using basic feedback linearization step, the end electromagnet system model under normal and malfunction is handled respectively.
It is feedback linearization result under normal circumstances first.First the end electromagnet system model under normal condition is write At following form:
Wherein, x is system state variables,For the derivative of x, u is control variable, and y is that system exports, f (x), g (x) and H's (x) specifically:
Lee derivative is sought to the end electromagnet system model under normal condition:
Wherein, LgFor the derivative of g, Lg1 and Lg2 be LgTwo components.
The Relative order for obtaining system is 2.Define matrix:
E (x)=[Lg1Lfh(x)Lg2Lfh(x)] (14)
New control amount v=[v can be obtained based on following mapping1v2]T:
Under the mapping, original system model can be converted to inearized model:
Wherein
Then it can use mature lineary system theory and controller design carried out to system.
For the system model after failure, it can use same step and carry out feedback linearization.Wherein under malfunction End electromagnet system model are as follows:
End electromagnet system model Lee derivative under malfunction is
Step S400: respectively for the feedback linearization end electromagnet system mould that treated normally and under malfunction Type carries out controller design；
Controller design process can be with reference to mature Linear Systems Controller design method.
Preferably, the controller in the step S400 under normal condition specifically:
Wherein, En(x),vnTransition matrix respectively under normal condition, Lee derivative and control law.
Preferably, the controller in the step S400 under malfunction specifically:
Wherein, Ef(x),vfTransition matrix respectively under malfunction, Lee derivative and control law.
Step S500: the suspension system state of on-line checking hybrid magnets type high-speed maglev train, suspension system is just Using the controller formula (19) under normal condition when often；When suspension system failure using under malfunction disturbance observer and control Device formula (20) processed, to realize the stability contorting to the suspension system of hybrid magnets type high-speed maglev train.
Using the fault tolerant control method end of hybrid magnets type high-speed maglev train end provided by the invention electromagnet Portion's electromagnet has had been provided with faults-tolerant control ability, and has certain Disturbance Rejection ability.In order to better illustrate we The characteristic of method, is emulated.Simulated conditions are as follows: after emulation starts, making electromagnet, slowly 20mm is moved to from original suspension gap Target levitation gap 12mm；Side electromagnet failure is enabled since emulating 30s clock, observes faults-tolerant control effect；In 60s and 80s applies external disturbance straight up and straight down respectively, sees the Disturbance Rejection energy for looking into failure lower end electromagnet Power.Simulation result is found in Fig. 4.Fig. 4 (a) is that front and back levitation gap response occurs for failure.After failure occurs, in fault diagnosis knot It (is out of order it is assumed herein that system diagnoses in 1ms under the action of fruit, and malfunction is sent to normal suspension point), control letter It number is switched to the controller designed according to fault model at once.Since this method acts on, levitation gap weight after fluctuating 0.5s New to stablize in target gap, levitation gap fluctuation amplitude is up to 0.4mm.Simulation result shows this method to guarantee system in event Barrier is lower to be stablized.Fig. 4 (b) is that the levitation gap applied under power to failure end electromagnet responds.After disturbance occurs, disturbance is seen Disturbance information can must be observed by surveying device, which can be used for Disturbance Rejection.Under this method, levitation gap fluctuation 0.5s with Again stable in target gap afterwards, levitation gap fluctuation amplitude is up to 0.5mm.Simulation result shows that this method can guarantee event System after barrier has good Disturbance Rejection ability.
In order to illustrate the effect of feedback linearization, change system balancing point, observation compares suspension system under different equalization points Suspendability after failure and failure under perturbation action.Simulation result is as shown in Figure 5.Fig. 5 (a) be using feedback linearization it Preceding system response, Fig. 5 (b) are using the response under invention proposed by the present invention.From simulation result as can be seen that equalization point Change will not influence system response.
Above to the faults-tolerant control side of hybrid magnets type high-speed maglev train end provided by the present invention electromagnet Method is described in detail.Used herein a specific example illustrates the principle and implementation of the invention, above The explanation of embodiment is merely used to help understand the core idea of the present invention.It should be pointed out that for the common skill of the art , without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for art personnel, these change It is also fallen within the protection scope of the claims of the present invention into modification.

Claims (8)

1. the fault tolerant control method of hybrid magnets type high-speed maglev train end electromagnet, which is characterized in that the method The following steps are included:
Step S100: the hybrid magnets type high-speed maglev train end electromagnetism iron series under normal and malfunction are established respectively System model；
Step S200: for the end electromagnet system modelling disturbance observer under the normal and malfunction put up, Disturbance information is obtained for unknown disturbance outside observation system；
Step S300: the end electromagnet system model under normal and malfunction is subjected to feedback linearization processing respectively；
Step S400: respectively for the end electromagnet system model under feedback linearization treated normal and malfunction into Line control unit design；
Step S500: the suspension system state of on-line checking hybrid magnets type high-speed maglev train, when suspension system is normal Using the controller under normal condition；Using the disturbance observer and controller under malfunction when suspension system failure, thus Realize the stability contorting to the suspension system of hybrid magnets type high-speed maglev train.
2. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 1 electromagnet, It is characterized in that, the hybrid magnets type high-speed maglev train end electromagnet system in the step S100 under normal condition Model are as follows:
Wherein, x1For levitation gap, x2For electromagnet speed,WithRespectively x1And x2Derivative, z0For equalization point gap, i0 For equalization point electric current, m is electromagnetism weight of iron, u1For left side magnet control voltage, u2For right side magnet control voltage, kpe、α It is intermediate variable without meaning with β.
3. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 2 electromagnet, It is characterized in that, the hybrid magnets type high-speed maglev train end electromagnet system in the step S100 under malfunction Model are as follows:
4. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 3 electromagnet, It is characterized in that, disturbance observer in the step S200 are as follows:
Wherein,For intermediate sight value,ForDerivative, L be observer parameter, Fpe1For left side electromagnet generate magnetic force, Fpe2For the magnetic force that right side electromagnet generates, M is equivalent load quality, and g is acceleration of gravity, and p isWithBetween difference, For the observation of disturbance.
5. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 4 electromagnet, It is characterized in that, the end electromagnet system model in the step S300 under normal condition carries out feedback linearization processing specifically Are as follows:
In formula, x is system state variables,For the derivative of x, u is control variable, and y is system output, f (x), g (x) and h (x) Specifically:
Wherein, FdIt is electromagnet by external disturbance power, i1For electric current in the electromagnet coil of left side, i2For right side electromagnet coil Interior electric current.
6. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 5 electromagnet, It is characterized in that, the end electromagnet system model in the step S300 under malfunction carries out feedback linearization processing specifically Are as follows:
Wherein, w is disturbance.
7. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 6 electromagnet, It is characterized in that, the controller in the step S400 under normal condition specifically:
Wherein, En(x),vnTransition matrix respectively under normal condition, Lee derivative and control law.
8. the fault tolerant control method of hybrid magnets type high-speed maglev train end according to claim 7 electromagnet, It is characterized in that, the controller in the step S400 under malfunction specifically:
Wherein, Ef(x),vfTransition matrix respectively under malfunction, Lee derivative and control law.
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CN110194062A (en) * 2019-06-17 2019-09-03 山西中海威轨道交通工程有限公司 A kind of single track suspension type small Suspension System of Maglev Train with failure emergency redundant configuration
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CN112240737A (en) * 2020-10-15 2021-01-19 中国人民解放军国防科技大学 Gap signal reconstruction method for single-gap sensor fault of lap-joint structure maglev train
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CN114326436A (en) * 2021-12-29 2022-04-12 湖南凌翔磁浮科技有限责任公司 Magnetic suspension simulation system

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