中文摘要：

为了提高磁浮列车悬浮方向的可靠性，磁浮列车采用特殊的搭接结构系统，使得每一个物理悬浮点由2个控制点进行控制，当其中一个控制点失效时，系统依然能够通过另一个控制点实现稳定悬浮。由于同一搭接结构上的2个控制点之间具有比较强的力耦合作用，因此这样的控制点不能简单作为单悬浮点进行悬浮控制，而应考虑两者之间的耦合作用。为了实现搭接结构的稳定悬浮，本文采用非线性反馈解耦的方法对系统模型进行解耦并线性化，确保了系统的全局稳定；然后对解耦线性化之后的系统采用极点配置的方法进行控制参数设计，使系统的动态性能达到一定标准；用实验和仿真结果验证了本文方法的有效性。

英文摘要：

In order to enhance the reliability of the maglev train in the suspension direction, the special join-structure system is designed for the maglev train. There are two control points to suspend this join-structure. When there is something wrong with one control point, the system can still be suspended by the other control point. The two points on the same structure are coupled closely, so they can not be treated as two single points to conduct magnetic suspension and the coupling interaction of the two points has to be taken into account. The system is decoupled and linearized by the differential geometry method, which ensures the global stability of the system. After the join-structure is decoupled into two single linear systems, the pole-collocation method is applied to insure the dynamic property of the system. The experiment and simulation results show that the proposed control method can ensure the steady suspension of the join-structure.