Prescribed Performance Composite Control Method for Maglev Trains Based on a Fine Disturbance Observer

Abstract

The present invention provides a specified performance composite control method for maglev trains based on a fine disturbance observer, belonging to the technical field of train suspension system control. The actual suspension air gap of the train is determined; a suspension system model is established; for different types of disturbances, a fine disturbance observer integrating a disturbance observer and an extended state observer is established to estimate, suppress and compensate for the disturbances; a preset performance control scheme is introduced to preset the performance of the suspension air gap tracking error; a sliding mode surface is designed based on the conversion error, and a system control law is constructed according to the dynamic model of the train suspension system and the disturbance estimation observed by the fine disturbance observer; a suitable Lyapunov function is selected to prove the stability of the system, and the actual suspension air gap of the train is controlled based on the system control law to approach the desired suspension air gap. The present invention solves the influence of lumped disturbances such as track irregularities, parameter uncertainties, and modeling disturbances on the unstable operation of the train.

Description

Technical Field

[0001] The present invention relates to the technical field of train suspension system control, and particularly to a fixed-time control method for specified performance of a high-speed maglev train under track irregularity conditions based on a precise disturbance observer. Background Art

[0002] The high-speed electromagnetic suspension (EMS) maglev train greatly improves the train operation speed by relying on contactless suspension and guidance, facilitating people's travel, so it has become the main means of transportation between major cities. At the same time, the safety of the train is closely related to people's lives, social development, and national progress. How to improve the performance of the train such as comfort, convenience, and effectiveness is a research direction that has attracted attention today.

[0003] The operating environment of the maglev train is very complex. For example, track curve changes, track irregularities, aerodynamic lift, load changes, etc. These inevitable interference factors will reduce the suspension performance of the maglev train. If the train suspension performance is poor, on the one hand, it will reduce the stability of the system, leading to operational safety problems such as hitting the track and the rail, and on the other hand, it will affect the comfort of passengers. These two practical problems must be seriously considered in the design of passenger transportation. Summary of the Invention

[0004] The purpose of the present invention is to provide a specified-performance composite control method for a maglev train based on a precise disturbance observer to solve at least one of the technical problems existing in the above background art.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a specified-performance composite control method for a maglev train based on a precise disturbance observer, including:

[0007] Determine the actual suspension air gap of the train according to the influence of track irregularities on the train;

[0008] Establish a suspension system model with lumped disturbances having parameter uncertainties and modeling disturbances according to internal and external disturbances affecting the train suspension system;

[0009] For different types of disturbances, establish a precise disturbance observer integrating a disturbance observer and an extended state observer to estimate, suppress, and compensate for the disturbances;

[0010] Introduce a preset performance control scheme to preset the performance of the suspension air gap tracking error;

[0011] Design a sliding mode surface based on the conversion error and construct a system control law according to the dynamic model of the train suspension system and the disturbance estimation observed by the precise disturbance observer;

[0012] Select an appropriate Lyapunov function to prove the stability of the system. Based on the system control law, control the actual suspension air gap of the train to approach the desired suspension air gap.

[0013] Furthermore, the dynamic model of the high-speed train suspension system based on track irregularity is:

[0014]

[0015] where x1 is the actual suspension air gap, the vertical velocity of a single suspension magnet, is the track irregularity disturbance. Since the irregularity disturbance enters the system from a non-input channel, d1 can be regarded as a mismatched disturbance and is described by an exogenous model as is an auxiliary variable, and are known matrix parameters, is the lumped disturbance of uncertain, unknown dynamics and external disturbances. Different from the irregularity disturbance d1, the lumped disturbance d2 can be regarded as a matched disturbance.

[0016] Furthermore, design a DO for the mismatched disturbance d1:

[0017]

[0018] where, and are the estimated values of ξ and d1 respectively, L is the observer gain to be designed, υ is an auxiliary variable;

[0019] Design an ESO for the matched disturbance d2:

[0020]

[0021] where, is the estimated value of x2, e1 = x1 - x r , and are the estimated values of x2 and d2 respectively, η1 > 0 and η2 > 0 are the ESO gains to be designed respectively.

[0022] Furthermore, introduce a preset performance control scheme to preset the performance of the suspension air gap tracking error, including:

[0023] The suspension air gap tracking error is defined as e1 = x1 - x r ; where, x r is the reference track height;

[0024] The preset performance function is θ(t) = (θ0 - θ ∞ )e -γt + θ∞ ; where γ > 0 is the convergence speed index, and θ0, θ ∞ are reasonably selected positive real numbers;

[0025] Then the tracking error performance is:

[0026]

[0027] where R ∈ (0, 1] is the constraint on the overshoot of the system response;

[0028] Construct a smooth and strictly monotonically increasing error conversion bijection Γ(·): (-1, 1) → (-∞, ∞), and adopt an error conversion function in the form of hyperbolic tangent:

[0029]

[0030] According to e1(t) = θ(t)Γ(ε) and the properties of the hyperbolic tangent function, the tracking error is transformed into

[0031]

[0032] Furthermore, design the sliding mode surface parameters as:

[0033]

[0034] where λ1 > 0, β1 > 0, 0 < m1 < n1, q1 > p1 > 0;

[0035] Then, the controller is:

[0036]

[0037] The structure included in the controller U is as follows

[0038]

[0039] where λ2 > 0, β2 > 0, 0 < m2 < n2, q2 > p2 > 0.

[0040] Furthermore, construct the following Lyapunov function:

[0041]

[0042] After analysis and arrangement, it is obtained that

[0043]

[0044] Satisfy and the fixed-time convergence theorem.

[0045] In the second aspect, the present invention provides a specified performance composite control system for a maglev train based on a fine disturbance observer, including:

[0046] A determination module, configured to determine the actual suspension air gap of the train according to the influence of track irregularities on the train;

[0047] An establishment module, configured to establish a suspension system model with lumped disturbances having parameter uncertainties and modeling disturbances according to internal and external disturbances affecting the train suspension system;

[0048] A compensation module, configured to, for different types of disturbances, establish a refined disturbance observer integrating a disturbance observer and an extended state observer to estimate, suppress, and compensate for the disturbances;

[0049] A preset module, configured to introduce a preset performance control scheme to preset the performance of the suspension air gap tracking error;

[0050] A construction module, configured to design a sliding mode surface based on the conversion error and construct a system control law according to the train suspension system dynamics model and the disturbance estimation observed by the refined disturbance observer;

[0051] A control module, configured to select an appropriate Lyapunov function to prove the stability of the system, and control the actual suspension air gap of the train to approach the desired suspension air gap based on the system control law.

[0052] In a third aspect, the present invention provides a non-transitory computer-readable storage medium, which is used to store computer instructions. When the computer instructions are executed by a processor, the method for compound control of specified performance of a maglev train based on a refined disturbance observer as described in the first aspect is implemented.

[0053] In a fourth aspect, the present invention provides a computer device, including a memory and a processor, where the processor and the memory communicate with each other, the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method for compound control of specified performance of a maglev train based on a refined disturbance observer as described in the first aspect.

[0054] In a fifth aspect, the present invention provides an electronic device, including: a processor, a memory, and a computer program; wherein, the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device runs, the processor executes the computer program stored in the memory so that the electronic device executes instructions for implementing the method for compound control of specified performance of a maglev train based on a refined disturbance observer as described in the first aspect.

[0055] Advantages of the present invention: effectively compensate for the influence of track irregularities on the train suspension system; effectively attenuate the influence of lumped disturbances with uncertainties and exogenous disturbances on the train suspension system; enable the train to maintain a stable suspension air gap during operation.

[0056] Advantages of additional aspects of the present invention will become more apparent in the following description section or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0058] Figure 1 It is a flowchart of the specified performance fixed-time control method for a high-speed EMS train under track irregularity conditions based on a fine disturbance observer according to the embodiments of the present invention.

[0059] Figure 2 It is a schematic diagram of the force analysis of the train suspension system according to the embodiments of the present invention.

[0060] Figure 3 It is a schematic diagram of the preset of the suspension air gap tracking error performance according to the embodiments of the present invention.

[0061] Figure 4 It is a schematic diagram of the estimation curve and the estimation error curve of the track irregularity in the specified performance fixed-time control method for a high-speed EMS train under track irregularity conditions based on a fine disturbance observer according to the embodiments of the present invention.

[0062] Figure 5 It is a schematic diagram of the estimation curve and the estimation error curve of the lumped disturbance in the specified performance fixed-time control method for a high-speed EMS train under track irregularity conditions based on a fine disturbance observer according to the embodiments of the present invention.

[0063] Figure 6 It is a schematic diagram of the tracking curve of the suspension air gap in the specified performance fixed-time control method for a high-speed EMS train under track irregularity conditions based on a fine disturbance observer according to the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] The following details the embodiments of the present invention. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described through the drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0065] Those skilled in the art of this technology can understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used here have the same meaning as the general understanding of those of ordinary skill in the art in the field to which the present invention belongs.

[0066] It should also be understood that terms such as those defined in a general dictionary should be understood as having a meaning consistent with their meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless defined as here.

[0067] Those skilled in the art of the present technology can understand that, unless specifically stated otherwise, the singular forms "a", "an", "the", and "said" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, and / or their groups.

[0068] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. Without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0069] For ease of understanding the present invention, the following further explains the present invention with specific embodiments in conjunction with the drawings, and the specific embodiments do not constitute a limitation to the embodiments of the present invention.

[0070] Those skilled in the art should understand that the drawings are only schematic diagrams of the embodiments, and the components in the drawings are not necessarily essential for implementing the present invention.

[0071] The present invention proposes a prescribed performance fixed-time control strategy based on a fine disturbance observer for this situation, provides a prescribed performance fixed-time control method for a high-speed EMS train under the condition of track irregularity based on a fine disturbance observer, solves the problem of unstable suspension air gap under the influence of lumped disturbances such as track irregularity and parametric uncertainty and exogenous disturbances, effectively solves the influence of track irregularity and unknown disturbances on the train, has strong feasibility, and is beneficial to improving economic benefits.

[0072] Embodiment 1

[0073] In this Embodiment 1, first, a specified performance composite control system for a maglev train based on a fine disturbance observer is provided, including: a determination module for determining the actual suspension air gap of the train according to the influence of track unevenness on the train; a construction module for constructing a suspension system model with lumped disturbances having parameter uncertainties and modeling disturbances according to internal and external disturbances affecting the train suspension system; a compensation module for establishing a fine disturbance observer integrating a disturbance observer and an extended state observer to estimate, suppress, and compensate for disturbances for different disturbance types; a preset module for introducing a preset performance control scheme to preset the performance of the suspension air gap tracking error; a construction module for designing a sliding mode surface based on the conversion error and constructing a system control law according to the dynamic model of the train suspension system and the disturbance estimation observed by the fine disturbance observer; and a control module for selecting an appropriate Lyapunov function to prove the stability of the system and controlling the actual suspension air gap of the train to approach the desired suspension air gap based on the system control law.

[0074] In this embodiment, based on the above system, a specified performance composite control method for a maglev train based on a fine disturbance observer is implemented, including: Step 1, determining the actual suspension air gap of the train according to the influence of track unevenness on the train; Step 2, constructing a suspension system model with lumped disturbances having parameter uncertainties and modeling disturbances according to internal and external disturbances affecting the train suspension system; Step 3, establishing a fine disturbance observer integrating a disturbance observer and an extended state observer to estimate, suppress, and compensate for disturbances for different disturbance types; Step 4, introducing a preset performance control scheme to preset the performance of the suspension air gap tracking error; Step 5, designing a sliding mode surface based on the conversion error and constructing a system control law according to the dynamic model of the train suspension system and the disturbance estimation observed by the fine disturbance observer; Step 6, selecting an appropriate Lyapunov function to prove the stability of the system and controlling the actual suspension air gap of the train to approach the desired suspension air gap based on the system control law.

[0075] In Step S1, the actual suspension air gap of the train is: x(t) = w2(t) - w1(t) (1)

[0076] where, w1(t) is the actual height of the track, w2(t) is the height of the suspension electromagnet; and x(t) is the size of the actual suspension air gap.

[0077] The suspension system model in Step S2 may include the following content:

[0078] According to Newton's second law, the dynamic equation of the maglev system can be obtained:

[0079]

[0080] where, m and g are respectively the mass and gravitational acceleration of the suspension electromagnet, F e (t) is an exogenous disturbance, is the electromagnetic suspension force, μ0 is the magnetic permeability, S is the effective magnetic pole area, and N is the number of coil turns.

[0081] Considering the parameter variations, unknown dynamics, and uncertainties caused by external disturbances in the suspension system, the suspension system is arranged as:

[0082]

[0083] where represents the parameter uncertainty of the system, and u = i 2 is the control input.

[0084] Combining equations (1) and (3), the dynamic model of the high-speed train suspension system based on track irregularities is:

[0085]

[0086] where x1 is the actual suspension air gap, the vertical velocity of a single suspension magnet, is the track irregularity disturbance. Since the irregularity disturbance enters the system from a non-input channel, d1 can be regarded as a mismatched disturbance and is described by the exogenous model as is the auxiliary variable, and are the known matrix parameters, is the lumped disturbance of uncertainties, unknown dynamics, and external disturbances. Different from the irregularity disturbance d1, the lumped disturbance d2 can be regarded as a matched disturbance. Without loss of generality, it is assumed that the disturbances d1 and d2 have upper bounds and the upper bounds are known, and their first and second derivatives exist.

[0087] Design a DO for the mismatched disturbance d1:

[0088]

[0089] where and are the estimated values of ξ and d1 respectively, L is the observer gain to be designed, and υ is the auxiliary variable.

[0090] Design an ESO for the matched disturbance d2:

[0091]

[0092] where is the estimated value of x2, e1 = x1 - x r , and are the estimated values of x2 and d2 respectively, and η1 > 0 and η2 > 0 are the ESO gains to be designed.

[0093] Step S4 further includes the following sub-steps:

[0094] S4.1. Define the suspension air-gap tracking error as

[0095] e1 = x1 - x r

[0096] where x r is the reference orbit height.

[0097] Give the preset performance function as

[0098] θ(t) = (θ0 - θ ∞ )e -γt + θ ∞

[0099] where γ > 0 is the convergence speed index, and θ0, θ ∞ are reasonably selected positive real numbers.

[0100] Then the tracking error performance is preset as

[0101]

[0102] where R ∈ (0,1] is the constraint on the system response overshoot.

[0103] S4.2. Construct a smooth and strictly monotonically increasing error conversion bijection Γ(·): (-1,1) → (-∞,∞), and adopt the error conversion function in the form of hyperbolic tangent:

[0104]

[0105] According to e1(t) = θ(t)Γ(ε) and the properties of the hyperbolic tangent function, the tracking error is transformed into

[0106]

[0107] Step S5 further includes the following sub-steps:

[0108] S5.1. Design the sliding surface parameters:

[0109]

[0110] where λ1 > 0, β1 > 0, 0 < m1 < n1, q1 > p1 > 0

[0111] S5.2. Design the controller:

[0112]

[0113] The structure included in the controller U is as follows

[0114]

[0115] Among them, λ2 > 0, β2 > 0, 0 < m2 < n2, q2 > p2 > 0.

[0116] Construct the following Lyapunov function:

[0117]

[0118] After analysis and arrangement, it is obtained that

[0119]

[0120] Satisfy and the fixed-time convergence theorem.

[0121] Therefore, under the action of the fixed-time controller with preset performance based on the refined disturbance observer for the high-speed train suspension system, it is asymptotically stable. All signals in the suspension system are bounded, and the suspension air-gap tracking error of the system can converge to a certain region within a fixed time, that is, the system has good stability, and the actual suspension air-gap can be continuously and stably maintained at the desired suspension air-gap size.

[0122] Embodiment 2

[0123] The fixed-time control method with preset performance for high-speed EMS trains under track irregularity conditions based on a refined disturbance observer provided in this Embodiment 2 is used for the tracking control of the suspension air-gap during the train operation process. As Figure 1 shown, the method includes the following steps:

[0124] S1. Analyze the influence of track irregularity on the train and determine the actual suspension air-gap of the train;

[0125] S2. Analyze the internal and external disturbances affecting the train suspension system and establish a suspension system model with lumped disturbances having parameter uncertainties and modeling disturbances;

[0126] S3. For different types of disturbances, establish a refined disturbance observer (RDO) integrating a disturbance observer (DO) and an extended state observer (ESO) to estimate, suppress, and compensate for the disturbances;

[0127] S4. Introduce a preset performance control (PPC) scheme to preset the performance of the suspension air-gap tracking error;

[0128] S5. Design a sliding mode surface based on the conversion error and construct a system control law according to the dynamic model of the train suspension system and the disturbance estimation observed by the RDO;

[0129] S6. Select a suitable Lyapunov function to prove the stability of the system, and then control the actual suspension air gap of the train to approach the desired suspension air gap based on the proposed composite control strategy.

[0130] In step S1, combined with Figure 2 the force analysis diagram of the train suspension system shown, the actual suspension air gap of the train is

[0131] x(t) = w2(t) - w1(t) (1)

[0132] where w1(t) is the actual height of the track, w2(t) is the height of the suspension electromagnet; x(t) is the size of the actual suspension air gap.

[0133] In step S2, the suspension system model can include the following content:

[0134] According to Newton's second law, the dynamic equation of the maglev system can be obtained:

[0135]

[0136] where m and g are the mass and gravitational acceleration of the suspension electromagnet respectively, F e (t) is the exogenous disturbance, is the electromagnetic suspension force, μ0 is the magnetic permeability, S is the effective pole area, and N is the number of turns of the coil.

[0137] Considering the parameter variations, unknown dynamics, and uncertainties caused by external disturbances of the suspension system, the suspension system is organized as:

[0138]

[0139] where, represents the parameter uncertainty of the system, u = i 2 is the control input.

[0140] Combining equations (1) and (3), the dynamic model of the high-speed train suspension system based on track irregularities is:

[0141]

[0142] where x1 is the actual suspension air gap, the vertical velocity of a single suspension magnet, is the track irregularity disturbance. Since the irregularity disturbance enters the system from a non-input channel, d1 can be regarded as a mismatched disturbance and is described by an exogenous model as is the auxiliary variable, and are known matrix parameters, The lumped disturbance for the uncertain, unknown dynamics and external disturbances, different from the unevenness d1 disturbance, the lumped disturbance d2 can be regarded as a matched disturbance. Without loss of generality, it is assumed that the disturbances d1 and d2 have upper bounds and the upper bounds are known, and their first-order and second-order derivatives exist.

[0143] In step S3, design a DO for the mismatched disturbance d1:

[0144]

[0145] where and are the estimated values of ξ and d1 respectively, L is the observer gain to be designed, and υ is the auxiliary variable.

[0146] Design an ESO for the matched disturbance d2:

[0147]

[0148] where is the estimated value of x2, e1 = x1 - x r , and are the estimated values of x2 and d2 respectively, η1 > 0 and η2 > 0 are the ESO gains to be designed respectively.

[0149] Step S4 further includes the following sub-steps:

[0150] S4.1. Define the suspension air gap tracking error as

[0151] e1 = x1 - x r (7)

[0152] where x r is the reference orbit height.

[0153] Give the preset performance function as

[0154] θ(t) = (θ0 - θ ∞ )e -γt + θ ∞ (8)

[0155] where γ > 0 is the convergence speed index, and θ0, θ ∞ are reasonably selected positive real numbers.

[0156] Then the tracking error performance is preset as

[0157]

[0158] R ∈ (0, 1] is the constraint on the system response overshoot.

[0159] S4.2. Construct a smooth and strictly monotonically increasing error transformation bijection Γ(g): (-1, 1) → (-∞, ∞), and adopt an error transformation function in the form of hyperbolic tangent:

[0160]

[0161] According to e1(t) = θ(t)Γ(ε) and the properties of the hyperbolic tangent function, the tracking error is transformed into

[0162]

[0163] Step S5 further includes the following sub-steps:

[0164] S5.1. Design the sliding mode surface parameters:

[0165]

[0166] where λ1 > 0, β1 > 0, 0 < m1 < n1, q1 > p1 > 0

[0167] S5.2. Design the controller:

[0168]

[0169] The structure included in the controller U is as follows

[0170]

[0171] where λ2 > 0, β2 > 0, 0 < m2 < n2, q2 > p2 > 0.

[0172] In step S6, construct the following Lyapunov function:

[0173]

[0174] After analysis and arrangement, it is obtained that

[0175]

[0176] Satisfy and the fixed-time convergence theorem.

[0177] After taking the derivative of formula (15) and substituting formulas (5)-(14), it is obtained that Therefore, it is concluded that the magnetic levitation system shown in formula (4) is asymptotically stable under the action of the observer (5)-(6), the preset performance control (8)-(11), and the controller (13)-(14). All signals in the magnetic levitation system are bounded, and the tracking error of the magnetic levitation air gap in the system can converge to a certain region within a fixed time, that is, the system has good stability, and the actual magnetic levitation air gap can continuously and stably remain at the desired magnetic levitation air gap size.

[0178] Next, in order to verify the effectiveness of the fixed-time control method for the specified performance of the high-speed EMS train under track irregularity conditions based on the refined disturbance observer provided in this embodiment, MATLAB is used for simulation experiments for verification and detailed descriptions are given.

[0179] The train single-point electromagnet suspension system model provided in this embodiment considers the continuous excitation of the train by track irregularities and the influence of lumped disturbances with uncertainties and modeling disturbances on the train suspension system. A refined disturbance observer is used to estimate and compensate for the two types of disturbances. The fixed-time controller with preset performance enables the suspension system to converge to a certain region within a fixed time, has good suspension gap tracking performance, and the system has good disturbance rejection performance and robustness.

[0180] In the simulation experiment, the total mass of the train m = 0.75 tons, the gravitational acceleration g = 9.8 N / kg, the magnetic permeability μ0 = 4π×10 -7 turns / area, the effective pole area S = 230 square centimeters, the number of coil turns N = 300 meters, the track irregularity wavelength χ = 475 meters, the train running speed v = 430 km / h, and the expected value of the suspension gap x r = 10 mm. The train track environment is as follows:

[0181]

[0182] Among them, f(χ) is the amplitude corresponding to the track irregularity.

[0183]

[0184] Among them, the uncertainty Δh and the exogenous disturbance F e are respectively taken as 0.1h and sin(2.52πt) + sin(0.2πt).

[0185] Based on the above parameters, the composite control strategy proposed in this embodiment is verified by simulation, and Figures 3 to 6 . Among them, Figure 3 shows the preset curve of the suspension gap tracking error performance, Figure 4 shows the estimation curve and the estimation error curve of the track irregularity in the fixed-time control strategy for the specified performance of the high-speed EMS train under track irregularity conditions based on the refined disturbance observer, Figure 5 shows the estimation curve and the estimation error curve of the lumped disturbance in the fixed-time control strategy for the specified performance of the high-speed EMS train under track irregularity conditions based on the refined disturbance observer, Figure 6 shows the tracking curve of the suspension gap in the fixed-time control strategy for the specified performance of the high-speed EMS train under track irregularity conditions based on the refined disturbance observer. According toFigures 3 to 6 It can be obtained that the suspension air-gap error of the system tends to zero, that is, the system has good suspension air-gap tracking performance.

[0186] Through the above analysis, the effectiveness of the fixed-time control strategy for the specified performance of the high-speed EMS train under the condition of track irregularity based on the refined disturbance observer provided in this embodiment is proved.

[0187] Embodiment 3

[0188] This Embodiment 3 provides a non-transitory computer-readable storage medium, which is used to store computer instructions. When the computer instructions are executed by a processor, the fixed-time control method for the specified performance of the high-speed maglev train under the condition of track irregularity based on the refined disturbance observer as described above is implemented. The method includes:

[0189] Determine the actual suspension air-gap of the train according to the influence of track irregularity on the train;

[0190] Establish a suspension system model of lumped disturbance with parameter uncertainty and modeling disturbance according to the internal and external disturbances affecting the train suspension system;

[0191] For different types of disturbances, establish a refined disturbance observer integrating a disturbance observer and an extended state observer to estimate, suppress and compensate the disturbances;

[0192] Introduce a preset performance control scheme to preset the performance of the suspension air-gap tracking error;

[0193] Design a sliding mode surface based on the conversion error and construct a system control law according to the dynamic model of the train suspension system and the disturbance estimation observed by the refined disturbance observer;

[0194] Select a suitable Lyapunov function to prove the stability of the system, and control the actual suspension air-gap of the train to approach the desired suspension air-gap based on the system control law.

[0195] Embodiment 4

[0196] This Embodiment 4 provides a computer device, including a memory and a processor, the processor and the memory communicate with each other, the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the fixed-time control method for the specified performance of the high-speed maglev train under the condition of track irregularity based on the refined disturbance observer as described above. The method includes:

[0197] Determine the actual suspension air-gap of the train according to the influence of track irregularity on the train;

[0198] Based on the internal and external disturbances that affect the train suspension system, a suspension system model with lumped disturbances of parameter uncertainty and modeling interference is established;

[0199] For different types of disturbances, a refined disturbance observer integrating a disturbance observer and an extended state observer is established to estimate, suppress, and compensate for the disturbances;

[0200] A preset performance control scheme is introduced to preset the performance of the suspension air gap tracking error;

[0201] Based on the transformation error, a sliding mode surface is designed, and a system control law is constructed according to the dynamic model of the train suspension system and the disturbance estimation observed by the refined disturbance observer;

[0202] A suitable Lyapunov function is selected to prove the stability of the system, and based on the system control law, the actual suspension air gap of the train is controlled to approach the desired suspension air gap.

[0203] Embodiment 5

[0204] Embodiment 5 provides an electronic device, including: a processor, a memory, and a computer program; wherein, the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device runs, the processor executes the computer program stored in the memory, so that the electronic device executes the instructions for implementing the specified performance fixed-time control method of the high-speed maglev train under the track irregularity condition based on the refined disturbance observer as described above. The method includes:

[0205] Determine the actual suspension air gap of the train according to the influence of the track irregularity on the train;

[0206] Based on the internal and external disturbances that affect the train suspension system, a suspension system model with lumped disturbances of parameter uncertainty and modeling interference is established;

[0207] For different types of disturbances, a refined disturbance observer integrating a disturbance observer and an extended state observer is established to estimate, suppress, and compensate for the disturbances;

[0208] A preset performance control scheme is introduced to preset the performance of the suspension air gap tracking error;

[0209] Based on the transformation error, a sliding mode surface is designed, and a system control law is constructed according to the dynamic model of the train suspension system and the disturbance estimation observed by the refined disturbance observer;

[0210] A suitable Lyapunov function is selected to prove the stability of the system, and based on the system control law, the actual suspension air gap of the train is controlled to approach the desired suspension air gap.

[0211] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0212] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for realizing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0213] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0214] These computer program instructions can also be loaded onto a computer or other programmable data processing device to perform a series of operation steps on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for realizing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 block or multiple blocks.

[0215] Although the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions disclosed in the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts should be covered within the protection scope of the present invention.

Claims

1. A composite control method for maglev train specified performance based on fine disturbance observer, characterized in that: include: Determine the actual suspension air gap of the train based on the impact of track unevenness on the train; According to the internal and external disturbances affecting the train suspension system, a suspension system model with parameter uncertainty and lumped disturbance of modeling disturbance is established; According to different disturbance types, a fine disturbance observer integrating disturbance observer and extended state observer is established to estimate, suppress and compensate the disturbance. Introduce a preset performance control scheme to preset the performance of the suspension air gap tracking error; The sliding surface is designed based on the conversion error and the system control law is constructed according to the dynamic model of the train suspension system and the disturbance estimation observed by the fine disturbance observer; The stability of the system is proved by selecting a suitable Lyapunov function, and the actual suspension air gap of the train is controlled to approach the expected suspension air gap based on the system control law.

2. The maglev train specified performance composite control method based on fine disturbance observer according to claim 1 is characterized in that: The dynamic model of the high-speed train suspension system based on track irregularities is: Among them, x1 is the actual suspension air gap, Vertical velocity of single suspension magnet, is the track unevenness disturbance. Since the unevenness disturbance enters the system from the non-input channel, d1 can be regarded as mismatch disturbance and can be described by the exogenous model as is an auxiliary variable, and are known matrix parameters, It is the aggregate disturbance of uncertain, unknown dynamics and external disturbances. Different from the uneven disturbance d1, the aggregate disturbance d2 can be regarded as a matched disturbance.

3. The maglev train specified performance composite control method based on fine disturbance observer according to claim 2 is characterized in that: Design DO for mismatched interference d1: in, and are the estimated values ​​of ξ and d1, L is the observer gain to be designed, and υ is the auxiliary variable; Design ESO for matching interference d2 interference: in, is the estimated value of x2, and are the estimated values ​​of x2 and d2 respectively, η1>0 and η2>0 are the ESO gains to be designed respectively.

4. The maglev train specified performance composite control method based on fine disturbance observer according to claim 1 is characterized in that: Introduce a preset performance control scheme to preset the performance of the suspension air gap tracking error, including: The suspension air gap tracking error is defined as e1 = x1-x r ; where x r is the reference orbit altitude; The default performance function is Among them, γ>0 is the convergence speed index, is a reasonably chosen positive real number; The tracking error performance is: Where R∈(0,1] is the constraint on the overshoot of the system response; Construct a smooth, strictly monotonically increasing error transformation bijection Γ(·):(-1,1)→(-∞,∞), using the error transformation function in the form of hyperbolic tangent: according to And the properties of the hyperbolic tangent function, the tracking error is transformed into 5. The maglev train specified performance composite control method based on fine disturbance observer according to claim 4 is characterized in that: The designed sliding surface parameters are: Among them, λ1>0,β1>0,0<m1<n1,q1>p1>0; Then, the controller is: The structure of controller U is as follows Among them, λ2>0,β2>0,0<m2<n2,q2>p2>0.

6. The maglev train specified performance composite control method based on fine disturbance observer according to claim 5 is characterized in that: Construct the following Lyapunov function: Analyze and organize satisfy And the fixed-time convergence theorem.

7. A composite control system for maglev train specified performance based on fine disturbance observer, characterized in that: include: A determination module, used to determine the actual suspension air gap of the train according to the impact of track unevenness on the train; Establishing a module for establishing a suspension system model with parameter uncertainty and lumped disturbances of modeling disturbances according to internal and external disturbances affecting the suspension system of the train; The compensation module is used to establish a fine disturbance observer integrating the disturbance observer and the extended state observer for different disturbance types to estimate, suppress and compensate the disturbance; A preset module is used to introduce a preset performance control scheme to preset the performance of the suspension air gap tracking error; A construction module for designing a sliding surface based on the conversion error and constructing a system control law according to a dynamic model of the train suspension system and a disturbance estimate observed by a fine disturbance observer; The control module is used to select a suitable Lyapunov function to prove the stability of the system and control the actual suspension air gap of the train to approach the expected suspension air gap based on the system control law.

8. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the composite control method for specified performance of a maglev train based on a fine disturbance observer as described in any one of claims 1 to 6 is implemented.

9. A computer device, characterized in that: It includes a memory and a processor, the processor and the memory communicate with each other, the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the composite control method for specified performance of a maglev train based on a fine interference observer as described in any one of claims 1-6.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes instructions for implementing the composite control method for specified performance of a maglev train based on a fine interference observer as described in any one of claims 1 to 6.

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