A suspension control method for maglev trains based on sliding mode variable structure control

Abstract

The invention discloses a maglev train levitation control method based on sliding mode variable structure control. The system dynamic model equation is established according to the dynamic equation of the maglev train levitation control system, the electromagnet voltage equation and the change of the track action surface; the linearization theory is used for analysis And design the maglev control system, approximate the obtained nonlinear equations into a linear model; judge the stability of the system according to the approximate model, select the appropriate state variable, and then select the directly measurable state quantity as the feedback quantity for state feedback Control: analyze and utilize the basic principle of sliding mode control algorithm, and establish a maglev control system model based on sliding mode control, and adopt a suitable control law to give the design structure of the levitation controller. The invention can improve the performance of the controller in the levitation control system of the maglev train, and can well meet the requirements of fast response, stability and anti-interference performance in the levitation process of the maglev 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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