Data-Driven Nonlinear Iterative Inversion Suspension Control

Abstract

The commercial operation of the maglev train has strict requirements for the reliability and safety of the suspension control system. However, due to a large number of unmodeled dynamics of the suspension system, it is difficult to obtain the precise mathematical model of the suspension system. After the suspension system has been operated for a long time with high load, the system model will change due to the wear, aging and failure of components, as well as the settlement of the line and track. The control performance is degraded. Therefore, this paper proposes a data-driven nonlinear iterative inversion suspension control algorithm, which can achieve high-precision tracking performance recovery control after control performance degradation without depending on the suspension system model. The control performance of the suspension system is improved by learning the measured data of the historical suspension system, and the fast convergence of the tracking error and high-precision stable suspension control are realized in the presence of unmodeled dynamics and external noise interference. Based on the historical suspension data of the maglev train suspension control system, the inverse dynamics model of the suspension system is identified by iterative inversion learning based on data drive, and the suspension control framework based on iterative inversion is designed. Then, the nonlinear input update strategy is used to realize the rapid convergence of the learning process. Finally, the simulation experiment of the maglev train suspension system and the physical experiment of the maglev system experimental platform are combined. It is verified that the proposed levitation control algorithm can achieve high-precision fast tracking performance recovery control after the system control performance degrades under noise environment.