H∞ Control for an Experimental System of the Pantograph with a Linear DC Motor
H∞ Control for an Experimental System of the Pantograph with a Linear DC Motor
复制标题
直线直流电机受电弓实验系统的H∞控制
DOI：
10.1541/ieejias.115.1412
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发表时间：
1995
影响因子：
--
通讯作者：
F. Matsumura
中科院分区：
文献类型：
--
作者：
T. Namerikawa;S. Isobe;F. Matsumura
本文研究了直线直流电动机受电弓实验系统的鲁棒H∞控制问题。近年来，更高的列车速度引起了各种问题，例如电力供应和空气动力学噪声。解决这些问题的途径之一是对架空线-受电弓系统进行优化。低噪声受电弓正在研究和开发中，需要主动力控制来稳定电流。在本文中，我们使用直线直流电动机（LDM）作为受电弓的执行机构，以控制架空导线和受电弓之间的接触力。设计并研制了一台具有振荡特性的实验机。为了提高系统的阶跃响应和频域性能，设计了系统的鲁棒力控制器。本文首先介绍了主动受电弓系统的实验台和数字控制器。接下来，其线性化模型以状态空间形式制定。然后，在时域内利用微分对策理论设计了H∞控制系统。最后，对所设计的控制器进行了实验研究，并与H∞混合灵敏度控制进行了比较。
This paper is concerned with robust H∞ control for an experimantal system of the pantograph with a Linear DC Motor. Recently higher train speeds have caused various problems such as power supply and aerodynamic noise. One of the approaches to solve these problems is to optimize the overhead wire-panotograph system. The low-noise pantograph is now being researched and developed, and needs active force control to stabilize the current. In this paper, we use a Linear DC Motor (LDM) as an actuator of the pantograph in order to control the contact force between the overhead wiring and the pantograph. An experimental machine has been designed and developed, and has an oscillatory characteristic. We designed the robust force controller for the system in order to improve step response and the frequency-domain performance.At first, the experimental machine and the digital controller of the active pantograph system are introduced. Next, its linearized model is formulated in a state-space form. Then, H∞ control system using differential game theory in the time domain is designed. Finally, the several experiments are carried out so as to evaluate the control performance of the designs, where the proposed control scheme is compared with the H∞ mixed sensitivity control.