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 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 for and
reducing 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 overall vehicle weight, while the E-shaped electromagnet for maintaining suspension stability. - Advantages of this hybrid excited magnet mainly lie in its
higher 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
Cabin:
Bogy:
II MODELING OF THE VEHICLE RIDE DYNAMICS
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 payload
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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
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
(5)
Where
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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- POWERCONTROLLED SUSPENSION DYNAMICS
The possibility of contact and the average regulation power loss under the excitation of the random guideway irregularity are two Important performance indices for evaluating the magnetic suspension dynamics.
(11)
(12)
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IV. FREQUENCY DOMAIN ANALYSIS OF ZERO- POWERCONTROLLED SUSPENSION DYNAMICS
The possibility of contract Pcontact and average regulation power
loss Plave can be obtained using.
(14)
(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 reachinglaw- 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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THANKS YOU FOR YOUR LISTENING !
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