Ems-enterprise Low-speed Maglev Train, Suspension Module Decoupling Control Study

Suspension control is the key technology of EMS type low-middle speed maglev train vehicle research. The single-magnet-based suspension control scheme is the mainstream of today's suspension control and a single suspension point of EMS module is taken as the basic suspension control unit. The states coupling between the two suspension points of a module, which can't be rejected by carrying out the single-magnet-based suspension control scheme, retard the improvement of the performances of the suspension system. In this dissertation, a module-based suspension control scheme has been presented to improve the suspension control performances. Combined decoupling control theory, suspension controllers that can reject the states coupling of the module has been designed.The main contents of the dissertation are as follows:Firstly, under some reasonable abstract and assumptions for module suspension system, the mathematical model of the system is developed in terms of energy. Farther more, the open-loop stability and state coupling of the system is analyzed.Secondly, Based on the mathematical model, inverse system-based decoupling control of the module suspension system is carried out. Because of unmodeling dynamics, frequent outside disturbances and significant parameter uncertainties of the module suspension system, the sliding mode controller which is robust and has decoupling ability is proposed. In the module suspension system, the electromagnet coil has large induce, which cause significant delay to control signials. In order to reject the delay effect, cascade control method is adopted: current loops is designed to quicken the current's response speed and reduce the order of the system; position loops are designed based on the two decoupling control methods to stabilize the system to the setting position with certain performance.Thirdly, the hardware of a digital controller is designed with DSP as the calculating core and FPGA as the logical core. The program of the system is developed based on the inner interrupt function of the DSP.Fourthly, the simulation and experiment of suspension control are carried out and the performances of the two controllers are studied. The simulating and experimental results show that the two decoupling control methods can reject the state coupling of the module suspension system and improve the suspension performances efficiently.Finally, the performances of the two decoupling controllers are compared. In comparision with the inverse system based decoupling controller, the sliding mode decoupling controller is much robuster and more suitable to the module suspension system in a EMS type low-middle speed maglev train.