- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | SUN Yougang, XU Junqi, HE Zhenyu, LI Fengxing, CHEN Chen, LIN Guobin. Sliding Mode Cooperative Control of Multi-Electromagnet Suspension System Based on Error Cross Coupling[J]. Journal of Southwest Jiaotong University, 2022, 57(3): 558-565. doi: 10.3969/j.issn.0258-2724.20210924
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As to the problem that traditional signal point suspension control method of maglev train lacks consideration of coordination and synchronization of multiple electromagnets, a novel coordination control method is developed through tracking error cross-coupling. The novel method can reduce tracking error and synchronization error of multiple points suspension system and enhance anti-disturbance ability at the same time. Firstly, through dynamic analysis, the dynamic equations of four electro magnets (two control modules) suspension system considering unknown disturbance are established. Secondly, in order to estimate and compensate the unknown disturbance of the system, a disturbance observer is introduced. Next, considering the coupling dynamic characteristics of adjacent electromagnet control modules, a sliding mode coordinated controller of error cross coupling is designed. Finally, the asymptotic stability of the closed-loop system is proved without linearization. The experiments show that the presented control method can compensate the coordination relationship of electromagnet modules, suppress the effect of disturbance, reduce the synchronization error by 40%, and inhibit the coupling disturbance between electro magnets significantly.
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