基于V型轨道的电磁悬浮列车的悬浮导向技术

Research on Suspension and Guidance Technologies of EMS Maglev Trains Using V-shaped Guideway

提出一种基于V型轨道的电磁悬浮(electro-magneticsuspension,EMS)型磁浮列车结构,该结构采用一套车载磁体及地面长定子线圈实现悬浮导向和牵引功能.首先,建立该结构列车平面运动的动力学模型,分析得出其含悬浮、导向和滚动运动在内的开环系统是不稳定的,但均可控.其次,根据其悬浮运动独立,而导向和滚动运动相互耦合的特性,提出独立设计悬浮控制器、导向和滚动控制器的控制策略.最后,针对某设计例构造反馈控制器.仿真结果表明,悬浮、导向及滚动运动都可实现稳定控制,同时验证了基于V型轨道由一套磁体同时实现悬浮导向和牵引的可行性.

The structure of a kind of electro-magnetic suspension（EMS） maglev train based on v-shaped guideway is proposed,and this study focuses on its suspension and guidance technologies.In this structure,suspension,guidance and propulsion are realized by a single set of magnets on the vehicle and the long stator coils on the guideway,which promises the simplicity of structure when compared with existing maglev trains.Firstly,the dynamical model of the plane motion for the maglev train is established.By analysis,it is concluded that the open-loop system composed of suspension,guidance and roll motion is unstable but controllable.Secondly,the control strategy that suspension controller as well as guidance-rolling controller should be designed separately is designed,based on the conclusion that the suspension motion is independent,while the guidance and roll motion are coupled.Finally,a feedback controller is designed according to the proposed control algorithm as an example.The simulation results indicate that suspension,guidance and roll motions can be effectively stabilized under the proposed controller,which validates the feasibility of realizing suspension,guidance and propulsion by a single set of magnets on the vehicle based on the v-shaped guideway.