Robust Speed Control Method for Virtual Coupling of Permanent Magnet Maglev Trains
Permanent magnet maglev is a new maglev rail transit system that can effectively relieve urban traffic conges-tion.Virtual coupling is one of the important advanced technologies to improve the operation efficiency of rail transit.Research on robust control of virtual coupling of the speed of the permanent magnet maglev trains is of great significance for improving the safety and efficiency of urban rail transit.In order to solve the problem that the speed is easily disturbed and the control is unstable in the process of state switching and adaptive cruise in the virtual coupling mode of a permanent magnet maglev train,three stages of dynamic coupling,adaptive cruise,and dynamic uncoupling were analyzed,and the three stages of virtual cou-pling state switching were carried out by using the segmented control strategy.The mathematical relationship between the virtu-al coupling of permanent magnet maglev trains was analyzed,and the mathematical model was established.The model predic-tion robust control algorithm was used to carry out collaborative control of the adaptive cruise speed,and the simulation was carried out in the Matlab simulation environment.The simulation results demonstrate the effectiveness of the proposed model-ing and control methods,and the model predictive robust control method is superior to the traditional PID control algorithm.The overshoot of the model predictive control algorithm is reduced by 4.9%.At the same time,the three-stage state switching of virtual coupling is realized by the subsection control method.Experimental results show that,compared with traditional train speed control methods,the proposed method has significant advantages in improving the accuracy and robustness of maglev train speed tracking control,which proves the effectiveness and feasibility of the modeling and control methods proposed in this paper.
maglev trainvirtual couplingmodel predictive controlrobust control