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Adaptive fault-tolerant control of high-speed maglev train suspension system with partial actuator failure: design and experiments

查看全文 作　　者：Yougang [1,2]SUN;Fengxing [1]LI;Guobin [2]LIN;Junqi [2]XU;Zhenyu [1]HE 高影响力作者 机构地区：[1]Institute of Rail Transit,Tongji University,Shanghai 201804,China;[2]National Maglev Transportation Engineering R&D Center,Tongji University,Shanghai 201804,China高影响力机构 出　　处：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》索引2023年第24卷第3期,共12页高影响力期刊 基　　金：supported by the National Natural Science Foundation of China(Nos.52272374 and 52072269);the Shanghai Soft Science Research Project(No.22692194800);the Fundamental Research Funds for the Central Universities,China. 摘　　要：High-speed maglev trains will play an important role in the high-speed transportation system in the near future.However,under the conditions of strong magnetic fields and continuous operation,the actuators of the high-speed maglev train suspension system are prone to lose partial effectiveness,which makes the suspension control problem challenging.In addition,most existing fault-tolerant control(FTC)methods for suspension systems require linearization around the equilibrium points during the controller design or stability analysis.Therefore,from a practical perspective,this study presents a novel nonlinear FTC strategy with adaptive compensation for high-speed maglev train suspension systems.First,a nonlinear dynamic model of the suspension system based on join-structure is established and the actuator failures are described.Then,a nonlinear fault-tolerant suspension control law with an adaptive update law is designed to achieve stable suspension against partial actuator failure.The Lyapunov theory and extended Barbalat lemma are utilized to rigorously prove the closed-loop asymptotic stability even if there is partial actuator failure,without any approximation to the original nonlinear dynamics.Finally,hardware experimental results are included to demonstrate the effectiveness of the proposed approach. 关 键 词：High-speed maglev transportation Suspension control system Adaptive fault-tolerant control(FTC) Partial actuator failure MECHATRONICS
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