单磁铁悬浮控制系统反馈参数动力学特性分析

单磁铁悬浮系统是磁浮列车最简单，最基本的研究单元。为研究悬浮控制系统反馈系数对磁浮列车稳定性的影响，建立单磁铁-轨道-悬浮系统参考模型，推导单磁铁-导轨的动力学方程，引入状态反馈控制规律，推导出反馈控制规律中的各反馈系数对悬浮系统的物理意义，与普通二次振动模型相比发现，改变间隙反馈系数相当于改变悬浮刚度，速度反馈系数的改变相当于改变悬浮系统的阻尼，改变加速度反馈系数相当于改变悬浮系统的质量。最后从数学的角度设计单磁铁悬浮系统状态观测器，研究发现对于轨道不同频率的不平顺，观测器的反应有所不同，对于高频激扰，悬浮系统能够达到平衡状态，受高频激扰的影响较小，而对于低频激扰来说，悬浮系统会跟随激扰发生振动。

Dynamic Characteristics of Feedback Coefficient of Single Magnet Suspension Control System

Single magnet suspension system is the most simple and fundamental unit in maglev train research. To investigate the effects of feedback coefficient of maglev train control system on stability of the maglev train, the ＂single magnet-track-suspension＂ system reference model has been established. Through deduction of its dynamic equation and introduction of the law of state feedback control, the physical meaning of each feedback eoeffieient in the law on the suspension system was revealed. It is shown by comparison with ordinary 2-order vibration model that change of clearance feedback coefficient means change of suspension stiffness, change of speed feedback coefficient means change of suspension system damping, and change of acceleration feedback coefficient means change of suspension system mass. The observer for state of single magnet suspension system was designed mathematically. It is found that the vibration response of the suspension system is not significant for high frequency excitation, but notable for low frequency excitation.