چكيده به لاتين
Electro magnetic suspension trains (EMS) have been under research and development since 1930 in Germany. Several laboratory and commercial samples have been produced under the name Transrapid. These trains are driven by three suspension, guidance and propulsion systems at speeds of more than 400 km / h on a flat rail. These trains are suspended by a suspension system at a distance of 1 cm from the rail level, and the guidance system guides the bogie of the train from the side walls of the rails transversely. The propulsion of these trains is done by a linear synchronous motor of DC excitation type. The purpose of doing this thesis is to design and simulate the full control of the EMS maglev trains.including suspension control system, guidance control system and propulsion control system simultaneously. Controlling suspension and guidance has been done in past research, and in this thesis the results of their design are used. In research done, the controller has been used to control the suspension and guidance airagps. The goal is design for propulsion system controller in order to track the EMS train speed profile with considering effects due to changes of suspension air gap. For this purpose, the orthogonal model of linear synchronous motors with DC excitation is extracted by removing damper windings from the circuit of equivalent rotational synchronous motors, which is written in rotor constant frame coordinates. Then, in order to investigate the effect of the suspension air gap changes on the performance of the propulsion, Magnetizing inductances in line with the axes d and q for this type of train, it is extracted in terms of air suspension. The stator’s magnetic field is in line with the d and q axes. The magnetic field of the rotor or the moving section is in the direction of the d-axes. In order to be able to use all the capacity of the propulsion system to generate propulsion force, the stator d axes current should be zeroed. In order to control of train velocity and stator current, linear multivariable PI controller around of working points, have been designed in base of linearized equations of linear synchronous motors with DC excitation. Then, in order to having the robust system in the presence of uncertainties and disturbances, a non-linear controller of sliding mode is designed. finally, with the simulation of nonlinear dynamics, operators and controller in the Simulink environment of the MATLAB software, and with combining, guidance propulsion and suspension controllers, and apply to the nonlinear system in the presence of disturbances and parametric indeterminacy, on the basis of Lyapunov's theory of stability, the performance of the propulsion control algorithms considering the operational considerations of the Transrapid 07 train has been analyzed.
