Research On Modular Design Method Of Model Free Adaptive Controller For Multi-point Suspension System Of Maglev Train

Maglev train has a great advantage over wheel rail train,which is the key research direction of rail transit system in the future.In this thesis,the model free adaptive modular control of maglev suspension system is studied.Because the multi-point suspension system is a complex system with strong nonlinearity and strong coupling,it is difficult to establish an accurate mathematical model,and there may be some problems in the design of the controller based on the model.The data-driven model free adaptive control(MFAC)does not need to know the exact model of the controlled system,only using the I / O data of the system can design the controller.MFAC provides a new idea for the control of multi-point suspension system.This thesis mainly studies the modular design method of model-free adaptive control.The model-free adaptive control method is combined with other control theory methods.MFAC and other control schemes can complement each other to improve the control performance of multi-point suspension system controller.The specific work of this thesis is as follows:(1)The multi-point suspension system of maglev train is modeled and analyzed,and the state equation of the system is obtained.The simulation model of multi-point suspension system is built with Simulink module.Lyapunov theory is used to analyze the open-loop stability of the multi-point suspension system.(2)In view of the influence of the cross coupling relationship between different suspension points on the control performance of the controller,the decoupling controller of the multi-point suspension system is designed by using the feedback linearization method based on differential geometry.The simulation results show that the suspension points of the system are completely decoupled.Then a modular controller is designed,which combines the FFDL-MFAC with the decoupling controller,and is compared with the PID control scheme.The results show that the FFDL-MFAC modular control scheme is better.(3)In view of the shortcomings of FFDL-MFAC modular controller,a control strategy combining sliding mode control with MFAC is proposed.Based on full format dynamic linearization,sliding mode control is added to suppress the disturbance and oscillation of MFAC controller.A full format model free adaptive sliding mode control(FFDL-MFASMC)scheme is designed.The simulation results of FFDL-MFAC modular controller show that It can be seen that FFDL-MFASMC modular scheme has better effect in suppressing interference and vibration,and has more advantages in reducing steady-state error and regulating time.