Suspension Control And Dynamic Simulation Of Maglev

In this thesis, a parameterized maglev train and maglev rail models have been set up in SIMPACK. These models are based on real information of the QIINGCHENG test maglev rail and TR08 in Shanghai. The SIMPACK is a kinematics and dynamics simulation software with multi-body system.The main content of this thesis is to set up modularized simulation system structures which include active control sections of maglev. Then research of the influence of dynamic characters through different control methods and different control parameters in suspension controlled system is carried out by simulating. The maglev train do not contact with guide way, and generally trestles are used as levitation guide way, so the dynamics character of maglev is more complex than that of traditional wheel-rail. The main problems include stability of suspension and guidance control and coupled vibration of vehicle-rail. The purpose of simulation is to research the infects of control system. Thus we need set up a simpelized model of magnetic suspension system at first. Then we should think about models with rigid bodies and rigid but excited railway and at last to set up integrate models with rigid vehicle , elastic guide way beam and control system of suspension and guidance.The multi-magnet suspension system of maglev is a multi-input and multi-output correlation control system in essential. But generally, the structure of modern maglev vehicle is modularized, and the spring stiffness of the second suspension is small, such structure can resolve mechanistic coupling of vehicle. So the methods of separate control are used very common in maglev suspension control systems. And this gives very important meaning to research on single magnetic suspension system.There are many different methods can be used into maglev control system. In those methods , state feedback and PID are used as of a traditional way while states observer and some other methods are used as modern methods. Different methods can result different control characters. Forthermore, because of non-linear factors exist in control system, it is very important to decide how to choose a propriety control law.In this thesis, based on mathematic model and real condition , analysis and compare of different control methods are carried out at first. Then a propriety control law and optimized parameters are choosen and used into multi-body model in SIMPACK. Finally, kinds of dynamic character curves after measurement and calculation are given.Nowadays, the main research object of maglev in China is middle and low speed EMS maglev. And the first high-speed commercial maglev system which uses all technology from Germany has been finished in Shanghai.Therefor the Multi-body Kinematics and dynamics simulation of maglev have important meaning in our maglev industry. In one hand, it can give some directions in research of control methods. In another hand, it can make us know about the structure, character, move performance and key technology of the most modern maglev in the world. Then we can study and absorb it and create advanced condition for developing national maglev in our country.