Abstract:
Magnetic levitation system is a method of suspending an object in the air using the
principle of magnetic attraction or repulsion force. It has been applied in various
applications where contact free operation is a primary design consideration. A Maglev
train is an advanced train that uses a magnetic levitation system to float smoothly from
starting point to destination in the air without ever touching the guideway track. The
main objective of this thesis is to design genetic algorithm tuned sliding mode controller
for suspension of Maglev train with flexible track. The suspension stability can be easily
impacted with minor deformation, especially when the track stiffness is low, the Maglev
train will result in smashing with guidance track. The dynamic model was developed by
studying single point electromagnetic suspension and pier supported beam with a span
to analyze the influence of flexible track on the suspension system. For controlling the
Maglev train suspension air-gap displacement, the sliding mode control is designed to
ensure a safe ride by eliminating rail smashing caused by flexible track. Furthermore, to
overcome the chattering problem due to conventional sliding mode control, the super
twisting sliding mode controller is designed. Genetic algorithm is applied for tuning
the sliding surface coefficients and controller gain parameters to obtain the optimum
value. The proposed controllers are tested under different circumstances, i.e., Maglev
train with rigid track, Maglev train with flexible track under different load sizes, under
external random disturbance and under variable suspension air-gap displacement. Based
on performance characteristics for a Full-load Maglev train with flexible track genetic
algorithm tuned sliding mode control has 0.0565𝑡𝑓𝑑 settling time, 2.9956% overshoot
and 0.0254𝑡𝑓𝑑 rise time at 1.5798 ร 10
โ5
ITAE value and genetic algorithm tuned
super twisting sliding mode control has 0.0529𝑡𝑓𝑑 settling time, 2.4125% overshoot and
0.031𝑡𝑓𝑑 rise time at 3.1343 ร 10
โ6
ITAE value for tracking 9𝑛𝑛 suspension air-gap
displacement.
Keywords: Flexible track, Genetic algorithm, Maglev train, Sliding mode control, Super
twisting sliding mode control and Suspension air-gap.