The joining-structure has been specially designed to realize the redundancy function of the levitation system of high-speed maglev vehicles.As there are two levitation magnets in one j oining-structure,the j oining-structure has much difference in structure and control with the single magnet levitation system.In this paper, the mathematic model of j oining-structure was set up through analyzing the forces applied on the levitation sys-tem.The control scheme and control requirements of the joining-structure were studied in view of the operating characteristics of the structure and on this basis the idea that the j oining-structure was designed as a controller and as a whole system was put forward.By adopting the state observer,all states of levitation of the joining-structure were estimated.Then the full-states feedback controller was designed by the optimum control theo-ry.Simulation shows that the full-states controller possesses better performance than the independent control-ler due to inclusion of both magnets and bogies movements.%为了实现悬浮系统的冗余，高速磁浮列车中采用搭接结构作为悬浮系统的基本结构形式，由于一个悬浮搭接结构由2个悬浮电磁铁共同支撑，其结构和控制方法与单电磁铁悬浮系统有很大区别。本文通过分析悬浮搭接结构的受力，给出悬浮搭接结构的数学模型；根据悬浮搭接结构的工作特点探讨其控制要求和控制方法，提出将搭接结构作为一个整体进行控制器设计的思路；通过设计状态观测器获取了悬浮搭接结构的全部状态，并采用最优控制算法设计悬浮搭接结构的全状态反馈控制算法。仿真分析表明：整体控制算法综合考虑了电磁铁和托臂的运动，具有比独立控制算法更好的性能。
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