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当前位置:首页 > 电子/通信 > 数据通信与网络 > 永磁电磁型中低速磁浮列车阻尼信息提取与融合技术
33420114JOURNALOFTHECHINARAILWAYSOCIETYVol33No4April2011:20100524;:20100825:(60874015,60974128);(2006BAG02B05):(1982),,,Email:zzz336@126com:10018360(2011)04003107永磁电磁型中低速磁浮列车阻尼信息提取与融合技术张志洲1,佘龙华1,张玲玲2,李晓龙1(1,410073;2,410004):,,;,,,,,,,:;;;;;:U237;TP13:Adoi:103969/jissn10018360201104005DampSignalAcquiringandFusingTechnologyforMiddlelowSpeedPermanentelectroMaglevTrainsZHANGZhizhou1,SHELonghua1,ZHANGLingling2,LIXiaolong1(1CollegeofMechatronicsEngineeringandAutomation,NationalUniversityofDefenseTechnology,Changsha410073,China;2HunanWomen'sUniversity,Changsha410004,China)Abstract:ThedampsignalacquiringandfusingtechnologyforthesuspensioncontrolsystemsofmiddlelowspeedpermanentelectromaglevtrainsisinvestigatedConsideringthefirstorderoscillationmodelofguideways,thenonlinearmathematicalmodelisbuilt,andthelinearfullstatefeedbackcontrollawispresentedBasedontheoptimalandfastsynthesisfunctionfortheseriessystemwithdoubleintegralloops,thefastdigitaldifferentiatorisdesignedtogainthesuspensiongapdifferentialsignalsAlso,thesecondorderhighpassfilterwhichcanrestrainthegravityelementsisadoptedtoobtaintheintegralsignalsofaccelerationathigherfrequenciesThecurvesofmagnitudeandphasetofrequencyforthetwofiltersaredrawnwiththesweepingfrequencymethodrespectivelyFinally,accordingtothelinearcombinedway,effectivedampingisacquiredforthecontrolsysteminitsentirefrequencydistributionSimulationandexperimentsshowthatwhenaguidewayoscillatesatlowfrequencies,thedigitalgapdifferentiatorcanacquireenoughdamptocompensatethesmallgainfromtheaccelerationintegralfilter,andsuppressthevehicleguidewaycoupledvibrationeffectivelyKeywords:permanentelectromaglevtrain;damp;digitalfilter;sensorfusing;differentiator;vibrationcontrol,,,,[12],,,,,33,,[36],[79],,,[10];,,[11],,,,,,,11,,,11,x0(OX),zm(OZ),zg,z,m,Fm,u,i,R,Rz,Rpm,N,S,Sm,hm,Hc,r,0=410-7H/mRz=z0S(1)Rpm=hmr0Sm(2)(z,i)=Ni+Hchm2Rz+Rpm(3)B=(z,i)S=0(Ni+HcHm)2z+hmS/(rSm)(4)Fm=B2S0=0S(Ni+Hchm)2[2z+hmS/(rSm)]2(5)u=Ri+d[N(z,i)]dt=Ri+N(z,i)ididt+(z,i)zdzdt=Ri+N(z,i)ididt+(z,i)zdzdt=Ri+Ldidt+kzdzdt(6)L=0N2S2z+hmS/(rSm)kz=-20NS(Ni+Hchm)[2z+hmS/(rSm)]2md2zdt2=mg-Fm(7),,,[3,5]zg+2zg+2zg=Fm(8),;;z=zm-zg,,X=(x1,x2,x3,x4,x5)=(zm,zm,zg,zg,i),324x1=x2x2=g-1m0S(Nx5+Hchm)2[2(x1-x3)+hmS/(rSm)]2x3=x4x4=0S(Nx5+Hchm)2[2(x1-x3)+hmS/rSm]2-2x4-2x3x5=1L[u-Rx5-kz(x2-x4)](9),zia(x1-x3),x2,,u=uec+ks(x1-x3-z0)-kcx5(x1-x3)+kbix2+ksd(x2-x4)(10),z0;uecz=z0;kskcksdkbi2,,,,,,,,[10,1213],,(10)21,,,,,,,40~50Hz,:50Hz,70,[1415],,,,,22[1415],,,(11)[u(k),b]=fast(x1(k)-v(d),c1x2(k),r,c0h)x1(k+1)=x1(k)+hx2(k)+r12h2u(k)-13bh3(11)x2(k+1)=x2(k)+rhu(k)-12bh2k=0,1,2,x1v(k);x2v(k);x1(0)=x10;x2(0)=x20;rv(k);h,;c1;c0(x1(k),x2(k),r)=x1(k)+x2(k)|x2(k)|2r,(9)[u(k),b]=fast(x1(k)-v(k),c1x2(k),r,c0h):(1)(x1(k),x2(k),r)0,s=sign((x1(k),x2(k),r)),tA=x2(k)rs+x1(k)rs+x22(k)2r2,tAh,b=0u(k)=-s(12)tAh,b=0u(k)=-12+x2(k)srh+121+4x2(k)rh+8x1(k)rh2s(13)(2)(x1(k),x2(k),r)=0,tB=|x2(k)|r,tBh,b=0u(k)=-sign(x2(k))(14)tBh,3333b=6(x2(k)h+2x1(k))rh3u(k)=-2(2x2(k)h)+3x1(k))rh2+bh(15)23,,,,v(t)=Asin(t),dv(t)=Acos(t),y(t)=Bsin(t+1),dy(t)=Ccos(t+2),Mag=20lg(B/A);,Pha=(1/2)360,,Mag=20lg(C/A);,Pha=(2/2)36023232,(10Hz),0dB0,-20dB/Dec,-1803,(10Hz),0dB90,-20dB/Dec,-1803,,ksd=0,31,,10~80Hz;,100Hz,,,,32[9]3,,GH(s)=s2+20ss2+20s+20(16),;0Butterworth,=0707,;0,40=628rad/s,=0.707,Bode4,0210Hz,-20dB/Dec,90;0210Hz,,033,s=2T1-z-11+z-1,3444BodeGH(z)=4(1+T)-8z-1+4(1-T)z-2(4+4T+2T2)+2(2T2-4)z-1+(4-4T+2t2)z-2(17)y(n)=a1y(n-1)+a2y(n-2)+b0u(n)+b1u(n-1)+b2u(n-2)(18),a1=2(4-2T2)4+4T+2T2,a2=4T-4-2T24+4T+2T2,b0=4(1+T)4+4T+2T2,b1=-84+4T+2T2,b1=4(1-T)4+4T+2T2T=00001s,0=628rad/s,=0707(18),,4,,;,,,,,V(s)=ksdfastz(s)+kbiGH(s)A(s)(19),kbiksdz(s)A(s),kbiksd,,5,ksd=0kbi=0m=750kg,R=12,N=240,r=12,hm=0025m,Hc=1106A/m,S=0024m2,Sm=0035m2=001,45Hz,1=245rad/s,=000318mm,10mm(1)ks=150,kc=120,kbi=160,ksd=0,55ksd=0,5,ksd=0,45Hz,,,,(2)ks=150,kc=120,kbi=0,ksd=180,66kbi=0,6,kbi=0,45Hz,,,,35336,,,kbi=160,ksd=0,77ksd=0,,,kbi=0,ksd=180,88kbi=0,7,,50Hz,,,8,,,,,7,,,,,,,,:[1],,,[J],2005,27(3):5054WANGLi,XIONGJian,ZHANGKunlun,etalResearchofHybridSuspensionSystemMadeofPermanentandElectromagnet[J]JournaloftheChinaRailwaySociety,2005,27(3):5054[2],,,[J],2005,25(18):157161XUZhengguo,XUShaohui,SHILiming,etalStudyonDirectFuzzyAdaptiveControlforHybridMagnetsUsedonEMSMaglevSystems[J]ProceedingsoftheCSEE,2005,25(18):157161[3],,EMS[J],2004,36(5):634640SHIXiaohong,SHELonghua,CHANGWensenTheBifurcationAnalysisoftheEMSMaglevVehiclecoupledguidewaySystem[J]ActaMechanicaSinica,2004,36(5):634640[4]LinglingZhang,LihongHuang,ZhizhouZhangStabilityandHopfBifurcationoftheMaglevSystemwithDelayedPositionandSpeedFeedbackControl[J]NonlinearDynamics,2009,57(12):197207[5],,[J],2008,15(4):392394,415LIUHengkun,HAOAming,CHANGWensenOnControlMethodsoftheMagneticSuspensionSystemonElasticGuideway[J]ControlEngineeringofChina,2008,15(4):392394,415[6],,[J],1993,16(3):110115LONGZhiqiang,SHELonghua,CHANGWensenTheSystemBehaviorsandAnalysisofMagneticallyLevitatedVibrationIsolation[J]JournalofNationalUniversityofDefenseTechnology,1993,16(3):110115[7],,EMS[J],1999,21(2):9396LIYungang,
本文标题:永磁电磁型中低速磁浮列车阻尼信息提取与融合技术
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