弓网接触力反馈线性化控制

Feedback linearization control of load between pantograph and catenary

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

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.