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Technical Brief

Nonlinear Control Scheme for the Levitation Module of Maglev Train

[+] Author and Article Information
Guang He, Peng Cui

College of Mechatronics Engineering and Automation,
National University of Defense Technology,
Changsha 410073, China

Jie Li

College of Mechatronics Engineering and Automation,
National University of Defense Technology,
Changsha 410073, China
e-mail: ljgfdt@163.com

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 12, 2015; final manuscript received March 26, 2016; published online May 16, 2016. Assoc. Editor: Shankar Coimbatore Subramanian.

J. Dyn. Sys., Meas., Control 138(7), 074503 (May 16, 2016) (5 pages) Paper No: DS-15-1217; doi: 10.1115/1.4033316 History: Received May 12, 2015; Revised March 26, 2016

In this study, we investigate a nonlinear control scheme to solve the practical issues such as inner coupling, load uncertainties, and model errors in the suspension control of maglev train. By considering the levitation module as an integral controlled object, the mathematical model of the levitation module is obtained. The inverse system method is adopted to deal with the inner coupling in the levitation module. By this way, the levitation module system is divided into two linear decoupled subsystems. Then, the linear quadratic regulator (LQR) theory is employed for achieving steady suspension. Besides, a disturbance nonlinear observer is designed to compensate the influence of load uncertainties and model errors. Furthermore, the availability of the proposed control scheme is validated through simulations and experimental results.

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Figures

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Fig. 1

The CMS-04 low-speed maglev train: (a) the practical CMS-04 maglev vehicle and (b) the lateral view of the EMS low-speed maglev vehicle

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Fig. 2

The lateral force diagram of one suspension module

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Fig. 3

Scheme of the module suspension control system: (a) the traditional decentralized controller and (b) the module suspension controller

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Fig. 4

The diagram of the proposed suspension control system

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Fig. 5

Simulation results with decentralized proportional–derivative (PD) controller

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Fig. 6

Simulation results with proposed nonlinear controller

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Fig. 7

Experimental results with decentralized PD controller

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Fig. 8

Experimental results with the proposed control scheme

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