Research On Suspension Control Of Maglev Train Based On Concise Robust Control

With the rapid progress of society and the rapid development of science and technology,people have a higher demand for the convenience of transportation and energy saving and utilization rate.Maglev train,as a more efficient and environment-friendly means of transportation,has the advantages of fast running speed,low energy consumption,low noise and more stable and comfortable running,so it has gradually developed and expanded in the field of high-speed railway in China.As an important part of maglev train,suspension system is the foundation to ensure the safe and stable operation of the train.Suspension clearance control technology of maglev train is the key to the stable operation of suspension system.Therefore,in order to improve the stability of suspension system when the train is running,it is necessary to study the suspension clearance control technology deeply.In the actual operating environment,maglev trains will encounter many external disturbances,such as air resistance,load changes and ramps,which will have a negative impact on the stability of the suspension system.Therefore,it is necessary to design a robust controller.In this paper,taking Electro Magnetic Suspension maglev train as the research object,considering the influence of various external disturbances,a control mode that can maintain a stable levitation distance in a general range is designed.In order to improve the stable suspension ability of the whole maglev train suspension system,the following aspects are mainly studied:(1)The mathematical model of suspension system of maglev train is established,and the stability of suspension system is analyzed by Lyapunov stability theorem.(2)Aiming at the nonlinear instability of maglev train suspension system,this paper linearizes the mathematical model of suspension system by using inverse system linearization method,and designs the controller of pseudo-linear system by combining Bode diagram approximation method with concise robust control method.The system is built and simulated by Simulink,and compared with the state feedback controller with or without interference.The simulation results show that the concise robust controller based on inverse system linearization has stronger robustness and better suspension control effect.(3)In order to solve the problem of long adjustment time in the concise robust controller based on inverse system linearization,this paper adopts nonlinear feedback method to optimize the controller.Compared with the original concise robust controller with or without interference,the simulation results show that the suspension control system with nonlinear feedback has shorter response time,faster response speed and smaller steady-state error.Therefore,the optimized control system has the effect of saving energy,and still has strong robustness against external interference.