Coupled Robust Constant-Power-Control Algorithm for Rigid Quadruple EMS Vehicle

Abstract

The electromagnetic-suspension (EMS) vehicle has been commercialized for the urban transportation in many countries. However, industrial applications of the small-size rigid quadruple counterpart are still restricted by the coupling problem or the so-called statically indeterminate problem among the four electromagnets. Inspired by the robust zero-power-control algorithm for the permanent-electromagneticsuspension (PEMS) system, this work proposes the robust constant-power-control algorithm with the augmented integral controller to compensate the current coupling among the four electromagnets and to stabilize the rigid quadruple EMS vehicle. The proposed algorithm only involves three feedback control loops and four parameters. Detailed analytical derivations are addressed to determine the four parameters, whereas the numerical simulations are presented to demonstrate the effectiveness and the outstanding robustness of the proposed algorithm. Hence, the coupled robust constant-power-control algorithm significantly enhances the stability and reduces the complexity in the controller design as well as the mechanical structure for the rigid quadruple EMS vehicle. Also, the proposed algorithm is so simple that plenty of room is available to incorporate intelligent control algorithms. Consequently, this work sheds light on the intelligent EMS transportation system for more industrial applications.