Research On Suspending Control Algorithm Based On Self-turning And Global Asymptotic Stability

Suspending control is the key technology of the EMS high-speed maglev train technology. There is a practical significant issue to do a thorough research on the suspending control algorithm to improve the anti-disturbance ability of the suspending system. In this paper we study the parameter self-turning control algorithm and the global asymptotic stability control algorithm aiming at two problems, one is the unstable problem caused by the variable structural parameter, the other is the global asymptotic stability problem caused by drift equilibrium point.Maglev train can be regarded as several single point suspending systems based on the mechanical decoupling technology. The single point suspending system kinetic model including secondary suspending structure is built at the beginning of the paper, then this paper gives the relation between the stiffness and damping of air spring and dynamic characteristic of single point suspending system. The disturbance suppression performance of single point suspending control system is studied later by the asymptotic stability and state stability. After that, we research on the following content: 1. Two parameter self-turning control algorithms are designed in time domain and frequency domain respectively, these two control algorithms can meet the performance requirement of setting time, overshoot and stability margin. The result of parameter self-turning control algorithm in time domain is proved by the experiment. 2. In order to guarantee the stability of the system, a suspending control algorithm is designed by state dependent Ricatti equation which can guarantee global asymptotic stability of the single suspending control system wherever the position of initial condition is. The single suspending control system is stable especially when disturbing signal is large.Two conclusions about suspending control system are given in this paper: 1. The single suspending system controlled by parameter self-turning control algorithm has better performance when the mass of single point suspending system, the resistance of electromagnet and the suspending gap are variable; 2. The single suspending system controlled by global asymptotic stability control algorithm is global asymptotic stability and can restrain the stochastic noise.