[1]刘芳璇,谢程程,王桂荣.具有死区输入的HXD2型机车制动缸自适应补偿控制[J].燕山大学学报,2018,42(2):177-182.[doi:10.3969/j.issn.1007-791X.2018.02.012]
 LIU Fangxuan,XIE Chengcheng,WANG Guirong.Adaptive compensation control of brake cylinder on HXD2 type electric locomotive with dead zone input[J].Journal of YanShan University,2018,42(2):177-182.[doi:10.3969/j.issn.1007-791X.2018.02.012]
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具有死区输入的HXD2型机车制动缸自适应补偿控制
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《燕山大学学报》[ISSN:1007-791X/CN:13-1219/N]

卷:
42
期数:
2018年第2期
页码:
177-182
栏目:
计算机与控制工程
出版日期:
2018-03-31

文章信息/Info

Title:
Adaptive compensation control of brake cylinder on HXD2 type electric locomotive with dead zone input
文章编号:
1007-791X(2018)02-0177-06
作者:
刘芳璇1谢程程2王桂荣3*
1. 西安铁路职业技术学院 牵引动力学院,陕西 西安 710026;2. 中铁七局集团西安铁路工程有限公司试验检测分公司,陕西 西安 710026;3. 中国计量大学 机电工程学院,浙江 杭州 310018
Author(s):
LIU Fangxuan1XIE Chengcheng2WANG Guirong3
1.Department of Railway Power Traction,Xi’an Railway Vocational and Technical College,Xi’an,Shaanxi 710026,China;2.Test Inspection Branch of Xi′an Railway Engineering Co.,Ltd.,China Railway Seven Bureau Group,Xi’an,Shaanxi 710026,China;3.College of Mechanical and Electrical Engineering,China Metrology University,Hangzhou,Zhejiang 310018,China
关键词:
死区非线性阀芯游移Nussbaum类型函数虚拟反馈控制自适应补偿控制
Keywords:
dead zone nonlinearityspool wanderNussbaum-type functionvirtual feedback control adaptive compensation control
分类号:
TP273+.2
DOI:
10.3969/j.issn.1007-791X.2018.02.012
文献标志码:
A
摘要:
为研究HXD2型机车制动缸在制动时受副风缸压力和轮对径向形变挤压时的制动缸活塞位置控制精度,考虑实际工况中换向阀阀口死区非线性和轮对挤压闸瓦及制动缸活塞杆产生的未知扰动、制动缸内壁与活塞非严格配合导致的压力漏损,建立了具有死区输入的制动缸非线性系统模型;针对换向阀阀芯游移方向的不确定性,引入Nussbaum类型函数;为改善系统误差面的收敛性,引入虚拟反馈控制函数;依据Lyapunov稳定性理论,构造了基于Nussbaum函数的死区自适应补偿控制器。理论分析及仿真结果表明,制动缸伺服系统闭环跟踪误差半全局一致有界并收敛于0;系统跟踪误差动态抖振较小且收敛迅速;控制输入及Nussbaum函数平滑有界。具有死区输入的制动缸伺服系统能够有效克服死区非线性,并对外部未知时变负载和参数漂移具有较强鲁棒性。
Abstract:
For the study of position control precision of brake cylinder in HXD2 electronic locomotives,including piston rod and brake shoe,which was extruded by pressure from auxiliary air cylinder and radial deformation of wheelset while braking,a nonlinear mathematical model of brake cylinder with dead zone input was established after considering dead zone nonlinearity of valve port in reversing valve,uncertain disturbance from interaction among brake shoe,piston rod and wheelset and the pressure leakage caused by negatively strict coordination between piston and inner cylinder wall.Nussbaum-type function was brought in to deal with uncertain shifting direction of the spool in reversing valve.Virtual feedback control was introduced to improve the convergence of error surface.According to the Lyapunov stability theory,adaptive compensation controller with Nussbaum function was constructed with the merit of its fast convergence and less parameters to be matched.Theoretical analyses and simulation results demonstrate that the brake cylinder servo system has closed loop bounded output with its tracking error bearing semi-globally uniform bound and convergence to 0.The error surface has abated its dynamic buffeting with fast constringency;control variables and Nussbaum-type function is smoothly constricted with bound.The dead zone servo system,which is able to effectively overcome dead zone nonlinearity,is robust to external unknown time-varying interference and parameter drifting with ideal output response.

备注/Memo

备注/Memo:
收稿日期:2017-02-22        责任编辑:孙峰
基金项目:国家自然科学基金资助项目(61640314);浙江省自然科学基金资助项目(LY15F030012)
作者简介:刘芳璇(1988-),男,陕西西安人,硕士,讲师,主要研究方向为非线性伺服系统及其控制技术;*通信作者:王桂荣(1975-),女,河南郑州人,博士,副教授,主要研究方向为多轴直线电机伺服驱动及控制技术,Email:lily_gr@126.com
更新日期/Last Update: 2018-07-13