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Unformatted text preview: Robust Control Design for Maglev Train with Parametric Uncertainties Using μ- Synthesis Mohammad Ali Sadrnia, and Atiyeh Haji Jafari Abstract — The magnetic suspension systems that they are basis of maglev trains divided in two classes: electrodynamic suspension (EDS) and electromagnetic suspension (EMS). EDS is based on repulsive forces acting on a magnet and is inherently stable system and even has well robustness in many cases with open loop control. But EMS is based on attractive forces acting on a magnet, is inherently unstable system that without feedback control has a poor performance. So, we must use feedback and we need to an exact mathematical model of plant to synthesis the feedback control system. This model should contain different uncertainties to make it more similar to actual model. Therefore, control system should have robust stability and performance under model uncertainties. Above desires will be accessible with a controller in μ framework. In this paper, we assume that the suspension system is EMS and perturbations of the model parameters are considered as the source of uncertainty. Since we can represent these perturbations in state space parameters (A, B, C, D) ,uncertainty will be structured. Keywords — Robust control, μ technique, maglev train. I. INTRODUCTION AGNETIC levitation (maglev) is an innovative transportation technology that via replacement of mechanical components by electronics overcomes the technical restrictions of wheel on rail technology. Compared with traditional railways maglev systems have high speed, high safety, less pollution, low energy consumption and high capacity. Since the magnetic suspension system used in these trains is unstable, we must use feedback. In addition we must pay attention to robustness of response in control design. This means that the system should have robust stability and performance under model uncertainties. In this study we consider the perturbations of the model parameters as the source of uncertainty. Since we can represent these perturbations in state space parameters, uncertainty will be structured. At each part of system that exist uncertainty it can be considered uncertainty as a Δ block about certain parameters. In this manner each of such blocks has one input and one output. Putting in order all Δ blocks will forms uncertainty set .In this way all Δ blocks are considered out of plant and obtained uncertainty set has special structure: it is Authors are with Electrical Engineering Department, Shahrood University of Technology, Shahrood, Iran (phone: 0098 273 3368418; fax: 0098 273 3333116; e-mail: [email protected]). block-diagonal and blocks on diagonal are small Δ s that in fact pulled out from interior of plant. Thus, if we have n blocks, then ) ,...., ( 1 n diag Δ Δ = Δ . We consider uncertainties in normalized form in formalization of standard conditions at robust design i.e. 1 ≤ Δ ∞ j ....
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This note was uploaded on 02/04/2012 for the course ECE 445 taught by Professor Hert during the Spring '11 term at Maryland.
- Spring '11