基于误差交叉耦合的多电磁铁悬浮系统滑模协同控制

针对磁浮列车传统的单点悬浮控制方法没有考虑多电磁铁间的协调同步问题，将多电磁铁的跟踪误差交叉耦合来设计高精度的协同控制方法，在减少了多点悬浮系统的跟踪误差和同步误差的同时，提高了系统抗干扰能力. 首先，通过动力学分析了考虑未知扰动的4个电磁铁（2个控制模块）悬浮系统的动力学特征；其次，针对系统中的未知扰动，引入干扰观测器来估计扰动并进行扰动补偿；然后，考虑到相邻电磁铁控制模块之间存在耦合动力学特性，设计一种误差交叉耦合的滑模协同控制器；最后，在不作任何线性化处理的前提下，证明了闭环系统的渐近稳定性. 研究结果表明:通过多电磁铁的悬浮架实验证明所提方法可以考虑补偿电磁铁模块之间的协调关系，抑制扰动的影响，减小间隙跟踪误差达40%，显著减少了电磁铁之间的耦合扰动作用. 

Sliding Mode Cooperative Control of Multi-Electromagnet Suspension System Based on Error Cross Coupling

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.