The Design of the Feedback Control System of Electromagnetic Suspension Using Kalman Filter

초록

The basic element of the EMS suspension is the electromagnet system, which suspends the vehicle without attracting forces contacting onto the rails at the guideway. The vehicle suspension by attractive magnetic forces is inherently unstable, and consequently, it is continuously adjusted by the strength of the suspending electromagnet from the rail irregularity and bending of the guideway. In order to improve reliable tracking, it needs to get feedback signals without measurement delay time. In this paper the concept of the feedback control system with the Kalman filter in the EMS is proposed. The input signals in the feedback control system are an air-gap and an acceleration signal. The air-gap signal with noise from the gap sensor is transformed to the filtered air-gap signal without measurement delay time by using the Kalman filter. The filtered air-gap signal is transformed to a relative velocity and a relative acceleration signal. Then it multiplies these values by gain matrix in order to get the actuator’s reference voltage value. The simulation results show that the dynamic responses of the suspension system can be improved by reducing the influence of measurement delay time of the air-gap signals.

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