비선형 궤환 선형화 기법을 이용한 자기부상 열차의 부상 및 안내제어기의 개발

Development of controller for a lateral motion of a staggered type Magnetic wheel with EMS system using feedback linearization

A nonlinear controller based on feedback linearization method is proposed for an electromagnetic suspension system. After exactly linearizing the system with nonlinear feedback, linear control technique is applied. Modeling of stagger typed magnet is introduced and controlled for not only levitation, but guidance. By the feedback linearization, the nonlinear, MIMO system is linearized and decoupled, so we can use linear control law. The simulation of this system control skim is demonstrated. Robustness properties of the proposed controller with respect to the load variations and external disturbance is also analyzed for a multi input multi output system. In this properties, the boundary of variation is proposed.