Research On Integral Sliding Mode Control Of The Single Magnetic Levitation System

As a new means of transport, maglev train has the advantages of high speed, low pollution to environment, strong climbing ability, small turning radius and high reliable comfort, the development and application of maglev train is prospect. Because maglev trains adopts modular structure, the various control points of the suspension system are mechanical decoupled, the suspension control system can be converted into a single suspension control points to study, and each suspension control points can be regarded as a single magnetic levitation control.Based on the single magnetic levitation system of maglev vehicle, the suspension control algorithm system are mainly studied in the thesis. Firstly, the characteristics, the research status at home and abroad of the single magnetic levitation system are introduced.Secondly, the mathematical model of the single magnetic levitation system is established, and the characteristics of the nonlinear and parameter uncertainty are analyzed in this paper. the limitations of traditional control strategy based on linearization near equilibrium are discussed, in order to solve this problem, the paper studies control strategy of the system based on feedback linearization.Thirdly, the thesis designs a kind of integral sliding mode variable structure controller, a new type of traditional saturation function is used to overcome Windup effect in traditional integral sliding mode controller; In order to further suppress the chattering of sliding mode controller, a new variable index reaching law is used to solve the problem of cannot tend to the origin at last in traditional index reaching law. k|s|(?)s is imported to adjust the approach speed, and the rate of reaching sliding mode is improved.Finally, the system MATLAB Simulation experiments of the control algorithm in this paper are carried out, the results show that compared with the traditional control strategy, the paper the integral sliding mode control proposed in this paper has fast response, good robustness and strong anti-interference ability. For further verification, the experiments are carried out by using the digital signal processor TMS320F2812 to realize the digital control of the system, the experimental results proved that the advantages of the integral sliding mode control introduced in the thesis.