Research On Magnetic Suspension Control System Of Maglev Train

This thesis is based on the MAGLEV train model developed for Shenyang Science and Technology Museum. The magnetic suspension device is manufactured and analyzed, and the accurate mathematic model of suspension system is set up. By linearizing the mathematic model at the equilibrium point, the state and transfer functions of the system are obtained. On the basis of the mathematic model, the controllability and observability are analyzed. Furthermore, several kinds of controllers such as linear state feedback controller, PED controller, fuzzy-PID controller, PI states feedback controller are designed for the system. The simulation and experiment for these controllers are conducted, and the features and performances of each controller are analyzed.An analog PID controller is designed to fulfill the control of the suspension system. The controller has perfect performances in the homopolar magnetic suspension system. The error of displacement is within ?0.05mm, and the curves of the coil current are smooth.The EMS (electromagnet suspension system) of the maglev vehicle has nonlinear and hysteresis characters. The equilibrium point of maglev system is unstable. The four-point attraction magnetic suspension system has the coupling phenomena between single-suspension magnets, which destroy the equilibrium of maglev systems, The error of displacement is from +0.25mm to -0.25mm, so in order to acquire the expected features, a cross coupling adjustor is designed, which eliminates the coupling interfere signals. The error of displacement is reduced to ?.15mm.The satisfied performances of the developed controller are obtained in experiment.