In order to ensure the suspension stability of maglev train, the active control problems of static suspension and dynamic suspension are studied. First, the mathematical model of dynamic suspension characteristics of medium- and low-speed maglev train is established. Second, the PID controller is studied. The results show that the controller is very sensitive to time-varying disturbances such as nonuniformity and load, which leads to the decrease in system robustness. In order to suppress the disturbance effectively, a suspension control method based on the sliding mode reaching law is proposed. Based on the bifurcation phenomenon, the bifurcation point is solved to determine the main control parameters. On the basis of this, an acceleration feedback correction and adaptive control module based on the radial basis function (RBF) network is constructed to effectively suppress the vibration of the electromagnet. The controller consists of a sliding mode bifurcation control law, an acceleration feedback correction module, and an adaptive compensation loop. The simulation and experimental results show that the proposed control algorithm can significantly reduce the variation range of suspension gap with a smoother control current in the presence of complex disturbances and significantly suppress the coupled vibration.

中文翻译：

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时变扰动磁浮列车悬挂系统基于加速度反馈修正自适应补偿的滑模分岔控制


为了保证磁浮列车的悬架稳定性，对静态悬架和动态悬架的主动控制问题进行了研究。首先，建立了中低速磁浮列车动态悬挂特性的数学模型。其次，对PID控制器进行了研究。结果表明，控制器对非均匀性、负载等时变扰动非常敏感，导致系统鲁棒性下降。为了有效抑制扰动，提出一种基于滑模趋近律的悬架控制方法。根据分岔现象，求解分岔点，确定主要控制参数。在此基础上，构建基于径向基函数（RBF）网络的加速度反馈修正和自适应控制模块，以有效抑制电磁铁的振动。该控制器由滑模分岔控制律、加速度反馈修正模块和自适应补偿环组成。仿真和实验结果表明，所提出的控制算法能够在存在复杂扰动的情况下以更平滑的控制电流显着减小悬架间隙的变化范围，并显着抑制耦合振动。