Control design for a transrapid (magnetic levitation train type) is here proposed using LQR.
Simulation of the controlled system are presented using Simulink. Main physical components considered are:
- Transrapid as a rigid body with elastic components along two axis;
- Electromagnets for levitation and for lateral guide;
- Linear synchronous motor.
The cardinal equations for the dynamics of the system have been defined and decoupled on three main directions:
- Headway motion, along x axes (propulsion control);
- Sway motion, along y axes and equations for yaw angle (guidance control);
- Pump motion, along z axes, and equations for pitch and roll angles (levitation control).
After a linearization on defined operative points, a LQR controller has been designed for each motion. Finally a simulation of the overall system is proposed.
In the directory Simulations are contained all the simulations. Two main directories are present, one for the decoupled simulations and one for the finale complete simulations. For the latter there are two different simulations: for a linear path and for a linear path with a curve.
Control and Simulation support contributors: Federico Rollo, Adelina Selimi.
Mechanical support contributors: Luca Minotti, Francesco Ancona, Lorenzo Bianchini.