| 引用本文: | 时光,陈忠华,郭凤仪,刘健辰,王智勇.弓网接触力反馈线性化控制[J].控制理论与应用,2016,33(1):85~91.[点击复制] |
| SHI Guang,CHEN Zhong-hua,GUO Feng-yi,LIU Jian-chen,WANG Zhi-yong.Feedback linearization control of load between pantograph and catenary[J].Control Theory and Technology,2016,33(1):85~91.[点击复制] |
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| 弓网接触力反馈线性化控制 |
| Feedback linearization control of load between pantograph and catenary |
| 摘要点击 3437 全文点击 1982 投稿时间：2014-11-11 修订日期：2015-07-19 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2016.41050 |
| 2016,33(1):85-91 |
| 中文关键词 受电弓 微分同胚变换 非线性干扰观测器 反馈线性化 |
| 英文关键词 pantograph differential homeomorphism transformation nonlinear disturbance observer feedback linearization |
| 基金项目 国家自然科学基金项目(51477071, 51277090), 辽宁省教育厅项目(L2013130)资助. |
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| 中文摘要 |
| 通过扩展状态变量得到受电弓的非线性模型, 利用非线性系统的微分几何理论, 构造微分同胚变换和状态
反馈表达式, 得到了受电弓线性化模型, 设计反馈控制律解决弓网接触力的跟踪问题, 并证明了内状态的一致最终
有界性, 考虑弓头易受干扰问题, 采用非线性干扰观测器补偿反馈控制律. 研究对比表明, 所提出的基于干扰观测器
的反馈线性化控制策略能有效解决弓网接触力的跟踪问题, 同时克服了反馈线性化控制依赖于精确模型的缺点, 为
一定工况下弓网最优接触力的跟踪控制提供可行方案. |
| 英文摘要 |
| We derive a nonlinear model for the pantograph by augmenting the state variables. Using the differential
geometry theory of nonlinear system, the differential homeomorphism transformation and the state feedback formula, we
develop the linear model of pantograph. Feedback control law of external state equation is designed to solve the tracking
problem of pantograph-catenary load. The uniformly ultimate boundedness of internal state variable is proved. Considering
that the pan-head of the pantograph is subjected to disturbance, we design the nonlinear disturbance observer to compensate
the control law. The research results show that the proposed control strategy of feedback linearization based on disturbance
observer is effective in solving the load tracking problem. At the same time, this method overcomes the disadvantage that
feedback linearization control method depends on the model accuracy. It provides a feasible solution to track the optimal
load of the pantograph-catenary under certain conditions. |
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