Magnetic-levitation train suspension control method based on sliding mode variable structure control

Abstract

The invention discloses a magnetic-levitation train suspension control method based on sliding mode variable structure control. The method comprises the steps that according to a kinetic equation of amagnetic-levitation train suspension control system, an electromagnet voltage equation and changes of a railway action surface, a dynamic model equation of the system is built; by using the linearized theory, the magnetic-levitation control system is analyzed and designed to obtain a nonlinear equation set, and the nonlinear equation set is approximated into a linearized model; according to the approximated model, the stability of the system is judged, an appropriate state variable is selected, the state variable which can be directly measured is selected as a feedback variable, and the feedback variable is subjected to state feedback control; the fundamental principle of a sliding mode control algorithm is analyzed and utilized, the magnetic-levitation control system model based on sliding mode control is built, and by adopting an appropriate control law, a design structure of a suspension controller is given. By means of the method, the performance of the controller in the suspension control system of a magnetic-levitation train can be improved, and the method can well meet the requirements for high response, stability and anti-interference performance in the suspension processof the magnetic-levitation train.

Description

technical field [0001] The invention relates to the technical field of levitation control, in particular to a levitation control method for a maglev train based on sliding mode variable structure control. Background technique [0002] Suspension control technology is one of the core and key technologies of maglev trains, and is the basis and prerequisite for the normal operation of maglev trains. The electromagnet suspension control of domestic maglev trains basically adopts the lead-lag compensation technology in classical control theory to dynamically stabilize the electromagnet on a certain set air gap. This technology can produce a stable magnetic levitation in most cases, but it is not enough in terms of damping, stability margin, anti-disturbance and other performances required by manned vehicles. Especially with the increasing speed of maglev trains, the increasing complexity of the control system and the improvement of various performance requirements of the train, ...

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Problems solved by technology

The disadvantage is that the working range is limited. This kind of controller only has good control performance near the working point. When the system is far away from the working point, the system cannot achieve the expected control effect or even become unstable. At the same time, the robustness is poor, and the controller is designed based on the ideal state. , when the system encounters problems such as random disturbance, track irregularity, vehicle-rail coupling vibration, curve crossing and track vertical curve, the system model and parameters will change, so this type of controller cannot overcome the impact of system parameter perturbation on control performance

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