Modeling And Control Of Hybrid Electric Suspension System Based On Halbach Array

Since permanent magnet electric suspension system has self-stabilization and there is no need of excitation current or cooling system.In addition,it possesses large suspension gap and other excellent performance,it has unique advantages in the ultra-high-speed vacuum pipe train application.Under the application of the Halbach array,the hybrid magnetic suspension system is designed.Based on the establishment of its basic theory,the features are analyzed and a PID and a fuzzy PID suspension controller are designed.The paper mainly accomplished the following tasks:1.A reasonable structure of hybrid electric maglev train based on Halbach array is proposed.In this paper,the supporting principle,suspension system and guidance system are designed respectively.2.The formulas of levitation force,magnetic resistance and torque are deduced.In order to get higher maglev force with less material,the structural parameters of Halbach array are optimized.Then the formula is simplified by the least squares method.3.The dynamic equation of the hybrid electric magnetic levitation system is built up,and the linearization of the hybrid electric suspension system is carried out.Furthermore,the controllability and observability analysis are conducted.4.The PID control method is used to simulate the hybrid suspension system.Then,the fuzzy PID controller is designed aiming at the limitation of PID controller and the advantages of PID as well as fuzzy control method.The analysis of the properties of the rotatable Halbach array and the linear analysis of the hybrid suspension system show that the suspension gap can be controlled by the common modulus of the control current.The rotation of the Halbach array can be controlled by the difference amount of the control current.Compared with PID control method,the fuzzy PID control method not only respond at a faster speed,but also has a higher track adaptability.