中南大学学报（自然科学版）2025，Vol.56Issue(12)：5099-5110,12.DOI:10.11817/j.issn.1672-7207.2025.12.014
基于级联扩张状态观测器的F轨悬浮系统反步控制研究
F-rail based on cascaded extended state observer research on backs-tepping control of suspension system
摘要
Abstract
Aiming at the issue that the F-rail suspension system is susceptible to external disturbances,leading to a decline in system control performance,a back-stepping control method based on cascaded extended state observers(CLESO-B-S)was proposed.Firstly,according to the structure and working principle of the suspension unit of medium and low-speed maglev trains,the architecture of the F-rail suspension system was constructed.Secondly,inspired by the concept of linear active disturbance rejection control(LADRC),the unmodeled components within the system as well as internal and external uncertainties were defined as total disturbances and extended into new state variables of the system.A cascaded extended state observer(CLESO)was designed to perform real-time estimation and compensation for these disturbances.Meanwhile,a back-stepping control law was devised to replace the PD control law in LADRC,thereby enhancing the system's response speed.Subsequently,the stability of the CLESO-B-S control method for the F-rail suspension system was rigorously proven using the Lyapunov stability criterion.The disturbance estimation performance of LESO and CLESO was compared and analyzed from the perspective of frequency domain characteristics.Finally,comparative experiments were conducted between the proposed CLESO-B-S control method and both the LADRC and back-stepping control methods.The results demonstrate that,compared with the back-stepping and LADRC methods,the CLESO-B-S control method achieves high-precision tracking even when the suspension gap varies over a wide range and effectively suppresses uncertain disturbances within the system.关键词
F轨悬浮系统/反步控制/级联扩张状态观测器/李雅普诺夫稳定性/控制性能Key words
F-rail suspension system/back-stepping control/cascade expanded state observer/Lyapunov stability/control performance分类
交通工程引用本文复制引用
吴洪涛,李勇群,秦耀,杨杰,胡海林..基于级联扩张状态观测器的F轨悬浮系统反步控制研究[J].中南大学学报（自然科学版）,2025,56(12):5099-5110,12.基金项目
国家自然科学基金资助项目(52262050) （52262050）
"十四五"国家重点研发计划项目(2023YFB4302100)(Project(52262050)supported by the National Natural Science Foundation of China （2023YFB4302100）
Project(2023YFB4302100)supported by the National Key Research and Development Program of the 14th Five-Year Plan) （2023YFB4302100）
