考虑气动系统的高速受电弓分层控制

doi:10.19595/j.cnki.1000-6753.tces.210546

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摘要

针对气动系统动态特性影响受电弓主动控制精度的难题,提出一种计及响应时间延迟的分层控制策略。上层控制器采用混合 ${{H}_{2}}/{{H}_{\infty }}$ 鲁棒控制策略。根据设定的受电弓运行状态的3个性能指标,构建多目标状态反馈控制律。通过求解线性矩阵不等式,得出主动控制力;下层控制器基于内模控制（IMC）理论,采用遗传算法,建立气动系统的一阶等效简化模型,设计仅与单一参数相关的内模-比例积分微分（PID）控制器。加快对上层控制器输出控制值的跟踪速率。通过列车不同运行速度下的仿真计算,验证了分层控制器的有效性和鲁棒性。仿真结果表明,下层控制器能够有效减少响应时间,明显改善气动系统的响应延迟。相比于传统单层控制,分层控制的接触力标准差下降率提高10%左右,有效抑制了弓网耦合振动,提高了高速弓网受流质量。

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关键词 ：气动系统, 响应时间, 分层控制, 混合

${{H}_{2}}/{{H}_{\infty }}$ , 鲁棒控制, 内模-比例积分微分（PID）控制

Abstract：

In view of the problem that the dynamic characteristics of the pneumatic system affect the active control accuracy of pantograph, a hierarchical control strategy taking into account the response time delay was proposed. The upper controller adopted hybrid ${{H}_{2}}/{{H}_{\infty }}$ robust control strategy. According to the set three performance indexes of the pantograph operation state, a multi-objective state feedback control law was constructed. The active control force was obtained by solving linear matrix inequality. For the lower controller, based on internal model control (IMC) theory, the first-order equivalent simplified model of the pneumatic system was established by genetic algorithm, and an internal model -proportional integral derivative (PID) controller related to a single parameter was designed. The tracking rate of the output control value of the upper controller was accelerated. The simulation calculation under different train speeds verified the effectiveness and robustness of the hierarchical controller. The simulation results show that the lower controller can effectively reduce the response time and significantly improve the response delay of the pneumatic system. Compared with the traditional single control, the reduction rate of the standard deviation of the contact force of the hierarchical control is increased by about 10%, which effectively suppresses the pantograph-catenary coupled vibration and improves the current collection quality of the high-speed pantograph-catenary.

Key words： Pneumatic system response time hierarchical control hybrid

${{H}_{2}}/{{H}_{\infty }}$ robust control internal model-proportional integral derivative (PID) control

收稿日期: 2021-04-19

PACS:

TM571

基金资助:

国家自然科学基金资助项目（U1734202, 51405401）

通讯作者: 张静女,1979年生,副教授,硕士生导师,研究方向为高速弓网动力学特性、参数优化及匹配及控制技术、外骨骼机器人优化设计及控制技术。E-mail: sdzj2006@126.com

作者简介: 杨鹏男,1996年生,硕士,研究方向为受电弓主动控制。E-mail: 18234136381@163.com

引用本文:

杨鹏, 张静, 金伟, 刘志刚. 考虑气动系统的高速受电弓分层控制[J]. 电工技术学报, 2022, 37(10): 2644-2655. Yang Peng, Zhang Jing, Jin Wei, Liu Zhigang. Hierarchical Control of High-Speed Pantograph Considering Pneumatic System. Transactions of China Electrotechnical Society, 2022, 37(10): 2644-2655.

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