The guidance system is one of the important subsystems of high-speed maglev train. The active guidance of high-speed maglev train is achieved by the attraction between the guide way and the electromagnets mounted on the side of the carriage. The working characteristics of the guidance system vary according to the different guide ways and weather conditions. In the straight line, the guiding current is very small. When suffering from the bend or big crosswind, the guiding current will be very large. Therefore, the model of the guidance system has greater uncertainty, and the guidance controller is more difficult to design. This paper presents a method to make the high-speed maglev train to obtain a stable guidance ability in different conditions. The mathematical model of the guidance system is established, and the robust guidance controller is designed by H ∞ control theory. The simulation and experiment demonstrate that the high-speed maglev train using the designed guidance controller has relatively desirable performance and achieves stable guidance ability successfully. INDEX TERMS High-speed maglev train, guidance system, nonlinear control system, robust control, H ∞ .

To improve the performance of the guidance system, the key system of maglev train, a force feedback controlling method is researched. First of all, the model of the guidance system on EMS high speed maglev train is set up, and the classical designing method is introduced. Then, in order to improve the dynamic stiffness of the guidance system, a new controlling method by the combination between force feedback and gap feedback is put forward. The force feedback is used to meet the rapid change of disturbance; meanwhile, the gap feedback is used to meet the gap change. Through simulation, this controlling strategy is proved to be right and very effective to ensure guidance system's good and stable operation.

This paper presents a control strategy for maglev system based on the sliding mode controller with auto-tuning law. The designed adaptive controller will replace the conventional sliding mode control (SMC) to eliminate the chattering resulting from the SMC. The stability of maglev system is ensured based on the Lyapunov theory. Simulation results verify the effectiveness of the proposed method. In addition, the advantages of the proposed controller are indicated in comparison with a traditional sliding mode controller

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In order to strengthen the high-speed maglev trains anti-disturbance ability, the traditional linear cascade control algorithm has been improved. Firstly, the mathematical model of the joint-structure in the high-speed maglev train was established according to the dynamics and electromagnetism theory.Secondly,the advantages and disadvantages of the linear cascade control algorithm were analysed.Thirdly,the relationship between the current loop and position loop control parameters and the system performance was discussed .Finally,the nonlinear cascade control algorithm of the joint-structure in high-speed maglev train was introduced. In the algorithm,the current loop controller gain would be reduced when the positional deviation increases. At the same time, the gain of the position loop controller would be increased. The simulation results show that the suspension joint-structure gap changes caused by the failure of a single suspension point or disturbing force ,of systems with nonlinear cascade control algorithm were less than that of systems with linear cascade control algorithm. The new algorithm can improve the anti-disturbance ability of the maglev train,It can also ensure the safety and comfort of passengers.