| As a newly—style vehicle on the land, maglev train has been put into practice successfully. The structure of traditional electro magnetic suspension (EMS) system is relatively simple and reliable. While the suspension power is very great, which would affect the increase of the suspension air-gap, for all the suspension force is provided by the windings of the electromagnetic iron. In order to solve all these problems, hybrid-suspension systems came into research, such as super-and electro-conducting hybrid-suspension system, permanent- and electromagnetic hybrid-suspension system and so on. On one hand, these hybrid-suspension systems have great advantage in saving power and increasing air-gap;On the other hand, the control method is getting much more difficult and complicated. In this paper, the control problems of the hybrid-suspension system, made of high temperature super-conducting (HTS) coils and normal conductorcoils, are studied.The hybrid electromagnets made of HTS coils and normal conductor coils are studied in this paper. First, the dynamic model of the hybrid suspension system is analyzed, and then the state-space model and the transfer function model of this object are established. Due to the inherent nonlinearities and instability of the electromagnetic suspension system, the controller is designed to ensure its steady suspension. The method is fixed air-gap control, by which various state feedback controllers are designed by using classical pole collocation method. The simulation result demonstrates that this method meets the needs. On the premise that theoretical analysis is feasible, a experiment console is designed, including hybrid magnetic iron, four-quadrant chopper, and digital controller by using TMS320F2812 for its control circuit. In addition, the PID program is compiled. Finally, the hybrid suspension can steadily suspend through debugging. The experiment result proves the hybrid-suspension control system is realizable. |
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