基于保辛摄动的车桥耦合系统时变LQG+控制.pdfVIP

基于保辛摄动的车桥耦合系统时变 LQG 控制 基于保辛摄动的车桥耦合系统时变 LQG 控制 宋 刚 , 谭述君, 林家浩 (大连理工大学工程力学系工业装备结构分析国家重点实验室, 辽宁 大连 116024) 摘 要：基于精细积分和保辛摄动，本文给出了一种新的时变 LQG 控制数值方法，并用于车桥耦合系统的 竖向减振控制。假定小车一系悬挂和二系悬挂系统均采用主动悬挂系统，控制力分别由放置在转向架和车 轮、以及车体和转向架之间的作用器产生。作为时变系统，车桥耦合系统时变 LQG 控制器设计中，需要求 解变系数矩阵 Riccati 微分方程和变系数矩阵 Kalman-Bucy 滤波方程。文中通过正则变换，把对偶于变系数 矩阵 Riccati 微分方程的时变 Hamilton 系统分解为零阶近似和保辛摄动两个 Hamilton 系统。引入区段混合 能和区段矩阵，对零阶近似系统区段矩阵采用精细积分法进行精细计算，而原时变 Hamilton 系统的区段矩 阵则由零阶近似系统和摄动系统的区段矩阵合并给出，进而给出了变系数矩阵Riccati 微分方程基于区段矩 阵求解的递推格式。分别对被动悬挂系统小车和主动悬挂系统小车过桥进行了仿真计算。仿真结果表明， 在对既有桥梁不作任何改造的情况下，仅在车辆上采用高性能的主动悬挂系统，就可提高车辆过桥时的平 稳性和乘客舒适性。 关键词：车桥耦合；铁道车辆；时变 LQG 控制；精细积分；保辛摄动 Time-varying LQG control of coupled vehicle-bridge systems based on a symplectic conservative perturbation method SONG Gang , TAN Shu-jun , LIN Jia-hao (State Key Laboratory of Structural Analysis for Industrial Equipment, Department of Engineering Mechanics, Dalian University of Technology, Dalian 116024, China) Abstract: Based on the precise integration method and symplectic conservative perturbation method, a new algorithm is proposed for time-varying linear quadratic Gaussian (LQG) control, which is applied to the vertical vibration suppressing of a rail carriage moving on a simply supported girder bridge. The carriage is modeled as a moving mass model with three degrees of freedom, which represent the vehicle body, bogie and the wheel. Active suspensions are adopted for the primary and secondary ones and, the control forces are produced by two actuators placed between the bogie and wheel, and between the vehicle body and the bogie, respectively. Vehicle-bridge coupling systems are time-dependent, which lead to th