1 Introduction
As a new type of rail transportation that does not contact the rail, the maglev train avoids the friction and loss caused by traditional wheel-rail transportation. Therefore, compared with traditional rail transit, the maglev train has the advantages of low pollution, low noise, small turning radius, strong climbing ability, low maintenance cost, and energy saving [1], and it has been a research focus in recent years. Maglev trains are currently mainly based on electromagnetic attraction type (EMS) and electrodynamic repulsion type (EDS). At present, two medium and low-speed commercial maglev lines have been put into operation in China, and both of which adopt the EMS-type levitation method is adopted. However, the actual operation effect indicates that the levitation system still has problems of poor performance and low stability under certain orbital conditions. For example, when a vehicle passes through certain specific tracks, the problem of electromagnets bumping into the track will occur due to track unevenness.