State Boundary-Constrained Model Predictive Control Method for Single Electromagnet Levitation System

The electromagnetic levitation system is one of the key components of the magnetic levitation train, and there are multiple constraints during the operation of the levitation train. Traditional control algorithms are more complex in dealing with system constraints. To solve the electromagnetic suspension (EMS) state constraint problem, state boundary-constrained model predictive control (SBC-MPC) is proposed to realize the levitation control of the EMS at a specified air gap position. Firstly, according to the basic working principle of EMS, the state space equation is established. Second, the state equations are discretized and the model predictive control (MPC) controller is designed with constraints on the system state. Compare the control effects of SBC-MPC with the unconstrained MPC method. According to simulation results, by constraining the vertical velocity, the method ensures effective air gap control and improves certain ride comfort.