中文摘要：

EMS型低速磁浮列车通常采用模块化的转向架结构,模块是集悬浮、导向和牵引功能于一身的基本功能单元.模块内部的2个悬浮端通过刚体连接,导致两端的运动状态互相耦合.常用的处理方法是将这种耦合作为系统的外部干扰,通过提高系统的鲁棒性加以抑制.本文从机械运动的角度,研究了EMS型低速磁浮列车模块的耦合问题,提出通过解耦算法实现2个悬浮端之间的运动解耦.首先在对物理模型进行合理简化和假设的基础上,建立了模块悬浮系统的数学模型,并以此为基础分析了模块运动耦合的本质,然后提出了通过反馈线性化方法实现模块运动电气解耦的方案.仿真结果表明,模块的运动耦合对悬浮系统动态特性具有显著的影响,本文提出的解耦方案可有效地解决耦合问题,简化悬浮控制器的设计,提高悬浮系统的性能.

英文摘要：

The EMS low-speed maglev train usually adopts the modular magnetic bogie structure, and the module is the basic unit with the functions of suspension, guidance and propulsion. The module comprises two suspension points connected by a rigid girder, and the motional states of the two points are coupling. Generally the two points are considered to be isolated from each other; the motional coupling is regarded as disturbance to each point and is suppressed by enhancing the robustness of the suspension controller. In this paper the coupling problem of the module of the EMS maglev train is studied from the viewpoint of mechanical motion, and a decoupling arithmetic is proposed to solve it. Based on rational simplifications and assumptions, a mathematical model of the module suspension system is presented, and the essential of motional coupling of the module is analyzed on the basis of the mathematical model. Then a scheme to realize electric decoupling by means of feedback linearization is put forward. The results of simulation show that the motional coupling of the module has great effects on dynamical characters of the suspension system; the decoupling scheme is effective to simplify the design of the suspension controller and improve the performance of the suspension system.