Design And Implementation Of Magnetic Levitation System Experiment Platform Based On Semi-physical Simulation

Maglev train is suspended by electromagnetic force,which avoids the wheel rail contact of traditional rail transit.It has unique advantages such as stability,low noise and small turning radius.Low speed maglev train has been used in the field of urban rail transit.High speed maglev train will have a broad application prospect in the future in the medium and long distance intercity rail transit.Therefore,the research of maglev technology has an important and far-reaching significance.At present,the research and experiment of maglev control technology are mostly realized by DSP,FPGA and other embedded controllers.It takes a lot of time in the process of algorithm development,parameter setting,equipment debugging and so on.In this paper,an experimental platform of maglev system based on semi-physical simulation is designed,and the controlled object is controlled by the real-time controller of MATLAB.Using this function,the parameters of the controller can be adjusted in real time.After debugging,the embedded code can be generated directly,which is convenient for system debugging and shortens the development cycle.In this paper,firstly,the mathematical analysis of single electromagnet suspension system is carried out,and the hardware implementation of MATLAB real-time controller,chopper main circuit,current sensor and eddy current suspension gap sensor is completed.In view of the shortage of eddy current suspension gap sensor used in the current maglev train a suspension gap sensor based on machine vision is proposed,and the design and implementation of the suspension gap sensor is completed.Secondly,based on the mathematical analysis of the single electromagnet suspension system,the controller design was completed.The theoretical analysis and simulation verification of PID,CMAC-PID and H_∞suspension controllers were completed,and the control effects of the three methods were compared.The results show that compared with other controllers,H_∞suspension controller not only has good dynamic and steady-state performance,but also has good robustness to the frequency change of the gap signal.Finally,the experimental verification of the PID controller and H_∞controller is completed on the semi-physical simulation experimental platform,and the experimental results are consistent with the simulation results.The function of generating embedded code in the Simulink control model is verified,and the DSP that completes the code generation can achieve the stable suspension of the suspended ball.The machine vision suspension gap sensor was successfully used to stabilize the suspension ball on the experimental platform,and the feasibility of applying machine vision technology to the suspension gap detection of the suspension system was verified.