Research On System Of Linear Elevator Electromagnetic Suspension Based On Adjacent Cross Coupling Control

Nowadays, the application of magnetic levitation technology is becoming increasingly wider, it has been successfully applied in the domestic train, bearings and machine tools. But it is only a primary stage that applying the technology to linear elevator currently in our country. When the linear elevator is running, the surrounding environment of the maglev guiding system is complex and changeable. The load of the liner elevator will change over time, and it will be affected by unknown external disturbance. The research object of this paper is the maglev guiding system of linear elevator, the synchronous control for the four single magnetic levitation device in the x axis of the linear elevator is the key of the paper.Firstly, the "Eight-Maglev" control structure in this study is established in the characteristics of the linear elevator maglev guiding system, four single magnetic levitation devices in the horizontal direction are selected as the research object, and establishing and analyzing the mathematical model of single magnetic levitation device in the x axis direction. In view of the nonlinear system model, it uses the state feedback linearization method to realization linearization system model.Secondly, according to the rapidly tracking and robustness issue of the magnetic levitation system, the fractional calculus is introduced, the fractional order PIλDμ control is extended than the integer order PID control of two adjustable parameters, so its design is more flexible and better control performance. Choosing the fractional order PIλDμ control combined with the neural network control, by using back propagation(BP) neural network realize the parameter adjusting strategy, can achieve a five parameter self-learning fractional order PIλDμ controller. Adopting neural networks with fractional order PIλDμ control method of single magnetic levitation device simulation results shows that the control method can effectively improve the control effect due to the change of the system structure and parameters.Finally, in response to many factors that can affect more than a single magnetic levitation device for synchronous control system of synchronous error, this paper put forward to the control structure that can eliminate these factors, and it has analyzed the advantages and disadvantages of synchronous control, master-slave control, main control, cross coupling control, deviation coupling control and adjacent cross coupling control structure, selection of the adjacent cross coupling control strategy; Based on the master-slave control, main control, adjacent cross coupling control simulation, simulation results show that the adjacent cross coupling control structure can improve the stability and synchronization performance of the system compared to other control structures.