CN114290912B - High-speed maglev train guiding control method and system based on multipoint information fusion - Google Patents
High-speed maglev train guiding control method and system based on multipoint information fusion Download PDFInfo
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Abstract
The invention discloses a high-speed magnetic levitation train guiding control method and system based on multipoint information fusion, comprising the following steps: acquiring real-time measurement information of the point, the opposite point and the adjacent point; establishing a guide control law model comprising information fusion of three guide control points including the point, the opposite point and the adjacent point; and obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model. The invention is applied to the technical field of guiding control, adopts the idea of nonlinear control, and ensures that the increase speed of the control quantity is faster on the basis of a conventional state feedback control method when the suspension clearance is increased; when the suspension clearance is reduced, the reduction speed of the control quantity is faster; in the guiding control process of each guiding control point, the consistency of the guiding gap between the point and the opposite point can be effectively ensured, meanwhile, the current balance between the point and the adjacent point is ensured, and the global stability of the guiding control system is improved.
Description
Technical Field
The invention relates to the technical field of guiding control, in particular to a high-speed maglev train guiding control method and system based on multipoint information fusion.
Background
The magnetic suspension train is a modern high-tech rail transportation tool, realizes non-contact suspension and guiding between the train and the rail through electromagnetic force, and then pulls the train to run by utilizing the electromagnetic force generated by the linear motor. The high-speed magnetic levitation train has the advantages of low noise, small vibration and small environmental pollution, can meet the transportation requirement between the points of large cities, is gradually valued by people, and has strategic significance in technical driving and international competition.
In the guiding control of the high-speed magnetic levitation train, the special system of the high-speed magnetic levitation train with the lap joint structure is adopted, the conventional state feedback control method only meets the performance at a certain balance point, and the performance of the system is deteriorated when the system is far away from the balance point due to the lap joint structure. In addition, the conventional state feedback control method does not consider the current balance of adjacent guide control points in the control process, so that the problem that the current at one point is overlarge and the current at the other point is overlarge is possibly caused, and the operation of a controller and an electromagnet is not facilitated.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the high-speed magnetic levitation train guiding control method and the system based on the multi-point information fusion, which can effectively ensure the consistency of the guiding gap between the current point and the opposite point in the guiding control process of each guiding control point, simultaneously ensure the current balance between the current point and the adjacent point and improve the global stability of the guiding control system.
In order to achieve the above purpose, the invention provides a high-speed maglev train guiding control method based on multipoint information fusion, which comprises the following steps:
step 1, acquiring real-time measurement information of a point, a relative point and an adjacent point;
step 2, establishing a guide control law model comprising information fusion of three guide control points including the point, the opposite point and the adjacent point;
and step 3, obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model.
In another embodiment, in step 1, the real-time measurement information of the present point, the opposite point, and the adjacent point includes: the guiding gap and the gap current of the point, the guiding gap and the gap current of the opposite point, and the guiding gap and the gap current of the adjacent point.
In another embodiment, in step 1, the steering control law model is:
wherein u is the real-time guiding control quantity of the point, and x 1 Guide gap, x, of the point 2 I is the guiding gap of the opposite point 1 Gap current i being the present point 3 Is the gap current of the adjacent point,
derivative representing the difference between the present dot gap and the opposite dot gap, + (x) 1 -x 2 ) dt represents the integral of the difference between the present dot gap and the opposite dot gap, + (i) 3 -i 1 ) dt represents the integral of the difference between the gap currents of adjacent points and the present point, k p 、k d 、k c Respectively representing a gap feedback coefficient, a gap differential feedback coefficient and a current feedback coefficient.
In another embodiment, in the guided control law model, the gap feedback coefficient k p Differential feedback coefficient k of gap d And a current feedback coefficient k c The debugging process of (1) is as follows:
step 2.1, reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, and then adding current feedback into a steering control law model;
step 2.2, the gap feedback coefficient and the gap differential feedback coefficient are both 0, the current feedback coefficient is adjusted to lead the current rising time of the electromagnet to be 9-11 milliseconds, and the current feedback coefficient k at the moment is determined c ；
Step 2.3, let the gap differential feedback coefficient be 0 and the current feedback coefficient be k determined in step 2.2 c Adjusting the gap feedback coefficient to enable the electromagnet to be in an up-down vibration state, and determining the gap feedback coefficient k at the moment p ；
Step 2.4, let the current feedback coefficient be k determined in step 2.2 c The current feedback coefficient is k determined in step 2.3 p Adjusting the gap differential feedback coefficient to ensure that the electromagnet is stably suspended in the air, and determining the gap differential feedback coefficient k at the moment d 。
In another embodiment, in step 2.2, the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 9-11 ms, specifically:
the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 10 milliseconds.
In order to achieve the above purpose, the present invention further provides a guiding control system for a high-speed maglev train based on multipoint information fusion, the system adopts the guiding control method to conduct guiding control on the high-speed maglev train, and the guiding control system comprises:
the information acquisition unit is used for acquiring real-time measurement information of the point, the opposite point and the adjacent point;
the control processing unit is connected with the information acquisition unit and is used for obtaining the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the point, the opposite point and the adjacent point;
and the control output unit is connected with the control processing unit and used for controlling the guide controllers of the guide control points according to the real-time guide control quantity of the guide control points.
To achieve the above object, the present invention also provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute part or all of the steps described in the above guidance control method.
According to the high-speed magnetic levitation train guiding control method and system based on multipoint information fusion, the idea of nonlinear control is adopted, when the levitation gap is increased based on a balance point, the control quantity is increased more rapidly based on a conventional state feedback control method; when the suspension clearance is reduced, the reduction speed of the control quantity is faster; in the guiding control process of each guiding control point, the consistency of the guiding gap between the point and the opposite point can be effectively ensured, meanwhile, the current balance between the point and the adjacent point is ensured, and the global stability of the guiding control system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the positional relationship of the present point, adjacent point, and opposite point up-direction controllers in an embodiment of the present invention;
FIG. 2 is a flow chart of a guiding control method according to an embodiment of the invention;
FIG. 3 is a flow chart of the debugging of parameters in a guided control law model in an embodiment of the present invention;
fig. 4 is a schematic diagram of a frame of a guidance control system according to an embodiment of the invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; the device can be mechanically connected, electrically connected, physically connected or wirelessly connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
Example 1
The lapping structure of the high-speed magnetic levitation train is a special system, and because of the lapping structure, in the guiding system of the high-speed magnetic levitation train, if a conventional state feedback control method is adopted, only the performance at a certain balance point is met, the current balance of adjacent guiding control points is not considered, the problem that the current at a certain point is overlarge and the current at another point is too small is possibly caused, and the work of a controller and an electromagnet is not facilitated. Therefore, in order to ensure the consistency of the guiding gaps, the current balance in the adjacent guiding points and the global stability of the guiding control system, the embodiment provides a guiding control method of the high-speed maglev train based on information fusion of three suspension guiding control points of the point, the point and the adjacent points, and the relative relation of the three guiding controllers is shown in fig. 1. Here, the director 1 represents the present point, the director 2 represents the opposite point, and the director 3 represents the adjacent point.
The high-speed maglev train guiding control method based on multipoint information fusion in the embodiment adopts the idea of nonlinear control, is based on a balance point, and enables the increase speed of the control quantity to be faster on the basis of a conventional state feedback control method when the suspension clearance is increased; and when the levitation gap is reduced, the reduction speed of the control amount is made faster. Referring to fig. 2, the guiding control method specifically includes the following steps:
step 1, acquiring real-time measurement information of three guide control points including a current point, a relative point and an adjacent point, wherein the method specifically comprises the following steps: the guiding gap and the gap current of the point, the guiding gap and the gap current of the opposite point, and the guiding gap and the gap current of the adjacent point;
step 2, establishing a guide control law model comprising information fusion of three guide control points including the point, the opposite point and the adjacent point, wherein the guide control law model is as follows:
wherein u is the real-time guiding control quantity of the point, and x 1 Guide gap, x, of the point 2 I is the guiding gap of the opposite point 1 Gap current i being the present point 3 Is the gap current of the adjacent point,
derivative representing the difference between the present dot gap and the opposite dot gap, + (x) 1 -x 2 ) dt represents the integral of the difference between the present dot gap and the opposite dot gap, + (i) 3 -i 1 ) dt represents the integral of the difference between the gap currents of adjacent points and the present point, k p 、k d 、k c Respectively representing a gap feedback coefficient, a gap differential feedback coefficient and a current feedback coefficient;
and step 3, obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model.
Referring to FIG. 3, in the present embodiment, the gap feedback coefficient k is in the guided control law model p Differential feedback coefficient k of gap d And a current feedback coefficient k c The debugging process of (1) is as follows:
step 2.1, reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, and then adding current feedback into a steering control law model;
step 2.2, let the gap feedback coefficient and the gap differential feedback coefficient all be 0, the guiding control law model at this time is:
adjusting current feedback coefficient in the guiding control law model to ensure that the current rising time of the electromagnet is 9-11 milliseconds, and determining current feedback coefficient k at the moment c Thereby determining-k c i 1 ；
Step 2.3, let the gap differential feedback coefficient be 0 and the current feedback coefficient be k determined in step 2.2 c The guidance control law model at this time is:
adjusting the gap feedback coefficient in the guiding control law model to enable the electromagnet to vibrate up and down, and determining the gap feedback coefficient k at the moment p Thereby determining k p (x 1 -x 2 )-k c i 1 ；
Step 2.4, let the current feedback coefficient be k determined in step 2.2 c The current feedback coefficient is k determined in step 2.3 p The guidance control law model at this time is:
adjusting the gap differential feedback coefficient to ensure that the electromagnet is stably suspended in the air, and determining the gap differential feedback coefficient k at the moment d Thereby determining
In step 2.2, the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 9-11 ms, specifically: the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 10 milliseconds.
According to the high-speed magnetic levitation train guiding control method based on multipoint information fusion, which is provided by the embodiment, a nonlinear control idea is adopted, a balance point is taken as a basis, and when a levitation gap is increased, the control quantity is increased more rapidly on the basis of a conventional state feedback control method; when the suspension clearance is reduced, the reduction speed of the control quantity is faster; in the guiding control process of each guiding control point, the consistency of the guiding gap between the point and the opposite point can be effectively ensured, meanwhile, the current balance between the point and the adjacent point is ensured, and the global stability of the guiding control system is improved.
Example 2
Referring to fig. 4, this embodiment discloses a guidance control system for a high-speed maglev train based on multi-point information fusion, which uses the guidance control method in embodiment 1 to perform guidance control on the high-speed maglev train. Specifically, the guidance control system comprises an information acquisition unit, a control processing unit and a control output unit. The information acquisition unit is a sensor arranged on the electromagnet and is used for acquiring real-time measurement information of the point, the opposite point and the adjacent point, in particular, the guide gap and the gap current of the point, the guide gap and the gap current of the opposite point and the guide gap and the gap current of the adjacent point. The control processing unit is connected with the information acquisition unit and is used for obtaining the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the point, the opposite point and the adjacent point; and the control output unit is connected with the control processing unit and used for controlling the guide controllers of the guide control points according to the real-time guide control quantity of the guide control points.
In this embodiment, the control processing unit obtains the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the present point, the opposite point and the adjacent point, where the real-time guiding control quantity is as follows:
wherein u is the real-time guiding control quantity of the point, and x 1 Guide gap, x, of the point 2 I is the guiding gap of the opposite point 1 Gap current i being the present point 3 Is the gap current of the adjacent point,
derivative representing the difference between the present dot gap and the opposite dot gap, + (x) 1 -x 2 ) dt represents the integral of the difference between the present dot gap and the opposite dot gap, + (i) 3 -i 1 ) dt represents the integral of the difference between the gap currents of adjacent points and the present point, k p 、k d 、k c Respectively representing a gap feedback coefficient, a gap differential feedback coefficient and a current feedback coefficient.
In the specific implementation process, the debugging process of the gap feedback coefficient, the gap differential feedback coefficient and the current feedback coefficient is as follows:
first, the current feedback coefficient k is adjusted c Reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, adding current feedback into a guiding control law model to ensure that the gap feedback coefficient and the gap differential feedback coefficient are both 0, adjusting the current feedback coefficient to ensure that the current rising time of the electromagnet is about 10 milliseconds, and determining the current feedback coefficient k at the moment c Thereby determining-k c i 1 The method comprises the steps of carrying out a first treatment on the surface of the Second, the current feedback coefficient k is adjusted c On the basis of the previous step, the differential feedback coefficient of the gap is continuously 0, the gap feedback coefficient is adjusted to enable the electromagnet to vibrate up and down, and the gap feedback coefficient k at the moment is determined p Thereby determining k p (x 1 -x 2 )-k c i 1 The method comprises the steps of carrying out a first treatment on the surface of the Finally, the gap differential feedback coefficient k is adjusted d On the basis of the previous step, the gap differential feedback coefficient is adjusted to ensure that the electromagnet is stably suspended in the air, and the gap differential feedback coefficient k at the moment is determined d Thereby determining
Under the control of the guide control system, the current balance of the adjacent point electromagnet can be effectively ensured while the global stability can be ensured, and the guide gaps of the adjacent points are consistent.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (5)
1. The high-speed maglev train guiding control method based on multipoint information fusion is characterized by comprising the following steps of:
step 1, obtaining real-time measurement information of a current point, a corresponding point and an adjacent point, wherein the method comprises the following steps: the guiding gap and the gap current of the point, the guiding gap and the gap current of the opposite point, and the guiding gap and the gap current of the adjacent point;
step 2, a guiding control law model comprising three guiding control point information fusion of the point, the opposite point and the adjacent point is established, and the guiding control law model is as follows:
wherein u is the real-time guiding control quantity of the point, and x 1 Guide gap, x, of the point 2 I is the guiding gap of the opposite point 1 Gap current i being the present point 3 Is the gap current of the adjacent point,
derivative representing the difference between the present dot gap and the opposite dot gap, + (x) 1 -x 2 ) dt represents the integral of the difference between the present dot gap and the opposite dot gap, + (i) 3 -i 1 ) dt represents the integral of the difference between the gap currents of adjacent points and the present point, k p 、k d 、k c Respectively representing a gap feedback coefficient, a gap differential feedback coefficient and a current feedback coefficient;
and step 3, obtaining the real-time guiding control quantity of each guiding control point based on the real-time measurement information and the guiding control law model.
2. According toThe high-speed maglev train guidance control method based on multi-point information fusion of claim 1, wherein the gap feedback coefficient k is in the guidance control law model p Differential feedback coefficient k of gap d And a current feedback coefficient k c The debugging process of (1) is as follows:
step 2.1, reducing the current response time in the electromagnet, introducing square wave current with the period of 1 second into the electromagnet, and then adding current feedback into a steering control law model;
step 2.2, the gap feedback coefficient and the gap differential feedback coefficient are both 0, the current feedback coefficient is adjusted to lead the current rising time of the electromagnet to be 9-11 milliseconds, and the current feedback coefficient k at the moment is determined c ；
Step 2.3, let the gap differential feedback coefficient be 0 and the current feedback coefficient be k determined in step 2.2 c Adjusting the gap feedback coefficient to enable the electromagnet to be in an up-down vibration state, and determining the gap feedback coefficient k at the moment p ；
Step 2.4, let the current feedback coefficient be k determined in step 2.2 c The current feedback coefficient is k determined in step 2.3 p Adjusting the gap differential feedback coefficient to ensure that the electromagnet is stably suspended in the air, and determining the gap differential feedback coefficient k at the moment d 。
3. The high-speed maglev train guiding control method based on multipoint information fusion according to claim 2, wherein in step 2.2, the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 9-11 ms, specifically:
the current feedback coefficient is adjusted so that the current rise time of the electromagnet is 10 milliseconds.
4. A guidance control system for a high-speed maglev train based on multipoint information fusion, characterized in that the guidance control method of any one of claims 1 to 3 is used for guidance control of the high-speed maglev train, the guidance control system comprising:
the information acquisition unit is used for acquiring real-time measurement information of the point, the opposite point and the adjacent point;
the control processing unit is connected with the information acquisition unit and is used for obtaining the real-time guiding control quantity of each guiding control point according to the real-time measurement information of the point, the opposite point and the adjacent point;
and the control output unit is connected with the control processing unit and used for controlling the guide controllers of the guide control points according to the real-time guide control quantity of the guide control points.
5. A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute part or all of the steps described in the guidance control method according to any one of claims 1 to 3.
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