装有MR阻尼器的转向架动力系统的时滞输出反馈控制
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摘要
建立了六自由度转向架模型,研究转向架动力系统的时滞输出反馈控制,通过部分可测输出量实现整个系统的振动控制。将系统的运动微分方程改写成状态空间模型,其控制输入中存在时滞。然后,利用一个线性项加积分项的变换将原时滞输入系统转化成无时滞的形式。在此基础上,应用输出反馈原理和合理的性能指标函数,以开关控制策略为依据设计了系统的时滞半主动控制律。最后,以一个具有典型参数的转向架模型为例来阐明所提出的控制策略的应用步骤。数值结果表明:所设计的时滞半主动控制策略是有效的。
A 6-DOF rail-bogie model established here was used to investigate the time delay output feedback control of rail-bogie dynamic system. A vibration control rule for the entire system was designed in terms of the measurable output of the system. The differential equation of motion of the system was transformed to a state-space model with time delay in the control input. Then, a transformation with a linear term and an integral term was employed to transfer the original time delay system into a form without time delays. Accordingly, a time delay semi-active control rule for the system was designed based on the principle of output feedback,a reasonable performance index,and the "on-off" control strategy. Finally, a rail-bogie model with a set of typical parameters was taken as an example to illustrate the application procedure of the control strategy proposed. The numerical results show that the time delay semi-active control strategy designed here is effective.
A 6-DOF rail-bogie model established here was used to investigate the time delay output feedback control of rail-bogie dynamic system. A vibration control rule for the entire system was designed in terms of the measurable output of the system. The differential equation of motion of the system was transformed to a state-space model with time delay in the control input. Then, a transformation with a linear term and an integral term was employed to transfer the original time delay system into a form without time delays. Accordingly, a time delay semi-active control rule for the system was designed based on the principle of output feedback,a reasonable performance index,and the "on-off" control strategy. Finally, a rail-bogie model with a set of typical parameters was taken as an example to illustrate the application procedure of the control strategy proposed. The numerical results show that the time delay semi-active control strategy designed here is effective.
引文
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[13]胡海岩,郭大蕾,翁建生.振动半主动控制技术的进展[J].振动、测试与诊断,2001,21(4):235~244.
[2]陈健,王开文,倪平涛,等.控制时滞对半主动悬挂车辆动力学性能的影响[J].铁道机车车辆.2006,126(14):8~11.
[3]曾京,戴焕云,邬平波.基于开关阻尼控制的铁道客车系统的动力学性能研究[J].中国铁道科学,2004,25(6):27~31.
[4]孙清,伍晓红,戴红,等.结构振动半主动控制系统的时滞补偿研究[J].机械科学与技术,2005,24(5):505~509.
[5]徐龙河,周云,李忠献.MRFD半主动控制系统的时滞补偿[J].地震工程与工程振动,2001,21(3):127~131.
[6]孙益民,李仲兴,王国林.具有时滞补偿的汽车主动悬架最优控制方法[J].农机化研究,2004,(6):152~154.
[7]Yang G,Spencer B F J,Carlson J D,et al.Large-scale MR fluid dampers:modeling and dynamic performance considera-tions[J].Engineering Structures,2002,24(3):309~323.
[8]Carlson J D,Cantanzarite D M,Clair K A S.Commercial magnetorheological fluid devices[J].International Journal of Modern Physics B,1996,10(23/24):2857~2865.
[9]Singh MP,Matheu E E,Suarez L E.Active and semi-active control of structures under seismic excitation[J].Earthquake Engineering and Structural Dynamics,1997,26(2):193~213.
[10]陈敏,金学松,曹登庆.结构振动的时滞输出反馈控制器设计[J].动力学与控制学报,2009,7(1):55-60.
[11]Cai G P,Huang J Z,Yang S X.An optimal control method for linear systems with time delay[J].Computers and Struc-tures.2003,81(15):1539~1546.
[12]蔡良斌,陈大跃.半主动控制直接输出反馈变结构控制电流变阻尼器的减振研究[J].机械工程学报,2002,38(11):113~118.
[13]胡海岩,郭大蕾,翁建生.振动半主动控制技术的进展[J].振动、测试与诊断,2001,21(4):235~244.
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