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DESIGN AND CONTROL
SERVO SYSTEM
Professor: Seng - Chi Chen
Name: Nguyen Van Sum
ID: D0003002
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Abstract
- This paper presents a rigorous dynamic analysis for the
Maglev system with controlled- PM electromagnets and
robust zero- power-control strategy.- Author: Yeou-Kuang Tzeng and Tsih C. Wang
- A variable structure control (VSC) theory using new reaching
law method is applied to the robust controller synthesis forreducing the control- voltage chattering and enhancing the
suspension stability analytical expressions of the rms gap
variation.
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I. Introduction
- The controlled- PM electromagnet contains a PM and an
E-shaped electromagnet, as shown in Fig.1
- The PM is used to provide lift force for balancing overallvehicle weight, while the E-shaped electromagnet for
maintaining suspension stability.
- Advantages of this hybrid excited magnet mainly lie in itshigher lift- to- weight ratio and lower power consumption
as compared to the conventional electromagnet.
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I. Introduction
The first is to evaluate the effect of the zero-power control
method on the high-speed vehicle ride dynamics.
Second, the regulated power loss due to the excitation of
random guideway irregularity need to be investigated for
confirming the power saving feature even with high speed
cruise.
Third the control- voltage chattering of the conventional VSC
method used in should be reduced to achieve more power
saving
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II MODELING OF THE VEHICLE RIDE DYNAMICS
Shown Fig.1, is simplify the analysis of a real Maglev vehicle
dynamics. The linearized dynamic equations describing the
motions of the cabin, the bogy, and the suspension module
(SM) around their equilibrium points are given by
Bogy:
Cabin:
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II MODELING OF THE VEHICLE RIDE DYNAMICS
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II MODELING OF THE VEHICLE RIDE DYNAMICS
Suspension Module (SM):
where
MC, MB, and MM denote the masses of cabin, bogy and SM,
respectively
Ki and Bi are the spring constant and the damping constant of
the mechanical suspension
F: is the magnetic lift force, g the gap clearance,
i: the coil current and f the external a load
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II MODELING OF THE VEHICLE RIDE DYNAMICS
The linearized voltage equation of the control coil is
where
E and are the control voltage and the magnetic flux.
R, N, and L are the resistance, the number of turns,and the inductance of the coil respectively
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III. DESIGN OF THE ROBUST ZERO- POWER CONTROLLER
- The reaching-law-bad VSC method, is employed
here for reducing the chattering of the conventional
VSC (variable structure control) method.
- Dynamic force through the primary suspension is
treated as the unknown external disturbance f.- The state equation for the design of the zero-power
controller is therefore reformulated as follows
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III. DESIGN OF THE ROBUST ZERO- POWER CONTROLLER
Where
(5)
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III. DESIGN OF THE ROBUST ZERO- POWER CONTROLLER
(6)
(7)
(8)
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III. DESIGN OF THE ROBUST ZERO- POWER CONTROLLER
(9)
(10)
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IV. FREQUENCY DOMAIN ANALYSIS OF ZERO- POWER-
CONTROLLED SUSPENSION DYNAMICS
The possibility of contact and the average regulation power lossunder the excitation of the random guideway irregularity are twoImportant performance indices for evaluating the magneticsuspension dynamics.
(11)
(12)
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IV. FREQUENCY DOMAIN ANALYSIS OF ZERO- POWER-
CONTROLLED SUSPENSION DYNAMICS
(14)
The possibility of contract Pcontact and average regulation power
loss Plave can be obtained using.
(15)
The above results are important to both the assessment of
suspension dynamics the determination the controller
parameters
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V. EVALUATION OF VEHICLE RIDE DYNAMICS
- Table 1 lists the details of the system.
- With the guideway modeled by the power spectral
density method,
- Fig. 2 show the power spectral density of the cabin
acceleration with ride quality at speed of 400 km/hr
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V. EVALUATION OF VEHICLE RIDE DYNAMICS
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V. EVALUATION OF VEHICLE RIDE DYNAMICS
Fig 2 The power spectral densities of cabin vertical acceleration
and ride quality standard at the speed of 400km/hr
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V. EVALUATION OF VEHICLE RIDE DYNAMICS
Fig 3 illustrates the ratio of nominal operating gap to rms
gap variation and the average regulation power loss.
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V. EVALUATION OF VEHICLE RIDE DYNAMICS
Fig 4 shows the
time domain
responses of the
vehicle at the
speed of 400
km/hr with the
guideway modeled
by discrete
frequency method
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VI. CONCLUSIONS
- This paper presented the dynamic analysis of the Maglev
system with controlled PM electromagnets and robust zero-
power control strategy. The controller synthesis using reaching-
law- based VSC method was effective in providing robust ness
without sever chattering.
- Numerical results gained from the power- spectrum
integration and the time- domain simulation both indicate that,
even with full load and high- speed operation (400 km/hr), the
possibility of contact is nearly zero and the average regulation
power is less than 320W/ton.
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