Research On Control Strategy Of Electromagnetic Levitation System Based On Adaptive Sliding Mode Prediction

Maglev technology has been widely used in the field of rail transit due to its advantages of non-contact,low noise,and low friction.As one of the core technologies of maglev train,the design of its controller structure has an important and direct impact on the safety,stability and ride comfort of maglev trains.In order to improve and enhance the levitation control performance of the system,the research on maglev control methods has important and far-reaching significance.This article takes the electromagnetic levitation ball system as the research object,and first introduces the structure and working principle of the levitation system.The mathematical model of the single electromagnet levitation system is established and analyzed,and the model is linearized,discretized and parameterized in sequence.The open loop instability of the levitation system is proved based on the Routh–Hurwitz stability criterion.And then,in order to take advantage of the insensitivity of sliding mode variable structure control to disturbances and speed up the response speed of the system,a terminal sliding mode levitation control method is designed,and the coefficients of the constant velocity approaching law are adaptively corrected online in combination with adaptive control.To improve the dynamic performance of the system and reduce the chattering of sliding mode control.And use the Lyapunov stability theory to prove the stability of the designed control method.In order to further improve the control performance of the levitation system,based on the design idea of the adaptive terminal sliding mode control method,the model predictive control has the characteristics of high control accuracy,and a levitation control method based on the adaptive terminal sliding mode prediction is designed.Prove the stability of this control method.A simulation model of the electromagnetic levitation system based on Simulink is built,and the control performance of the designed levitation control method is preliminarily verified.Finally,build an electromagnetic levitation system experimental platform,complete the software and hardware design of the experimental platform,and implant the designed levitation control method into a DSP-based levitation controller to verify the levitation control performance of different levitation control methods;design an electromagnetic levitation based on Labview experiment and debug the monitoring system,and receive real-time status data of the suspension system through CAN communication.Simulation and experimental results show that the designed adaptive terminal sliding mode predictive control method can further improve the response speed and anti-interference performance of the suspension control system on the basis of the adaptive terminal sliding mode controller.