中文摘要：

主要研究中低速永磁电磁型磁浮列车悬浮控制系统的阻尼信息提取及融合技术。建立考虑轨道一阶振动模态的单点永磁电磁悬浮系统非线性模型,提出一种线性全状态反馈控制律。基于一类双积分串联系统的最优快速综合函数,设计了一种可有效提取悬浮间隙微分信号的快速数字微分器;采用一种二阶形式的高通滤波器,有效滤除加速度计中的重力分量,提取得到较高频段的加速度隔直积分信息。采用扫频法分别绘制了两种滤波器的幅相曲线。利用线性组合的方式将两种阻尼信息进行融合,从而获得控制系统全频段的有效阻尼。仿真和试验表明,当轨道以较低频率振动时,数字间隙微分器在该频段可提取足够阻尼,弥补加速度隔直积分在该频段的小增益,很好地抑制了轨道的振动。

英文摘要：

The damp signal acquiring and fusing technology for the suspension control systems of middle-low speed permanent-electro maglev trains is investigated.Considering the first-order oscillation model of guideways,the nonlinear mathematical model is built,and the linear full state feedback control law is presented.Based on the optimal and fast synthesis function for the series system with double integral loops,the fast digital differentiator is designed to gain the suspension gap differential signals.Also,the second order high pass filter which can restrain the gravity elements is adopted to obtain the integral signals of acceleration at higher frequencies.The curves of magnitude and phase to frequency for the two filters are drawn with the sweeping frequency method respectively.Finally,according to the linear combined way,effective damping is acquired for the control system in its entire frequency distribution.Simulation and experiments show that when a guideway oscillates at low frequencies,the digital gap differentiator can acquire enough damp to compensate the small gain from the acceleration integral filter,and suppress the vehicle-guideway-coupled vibration effectively.