具有弱模型依赖的电磁悬浮系统主动抗扰控制OA

With the increase in operational speeds and long-term service of the electromagnetic suspension(EMS)ma-glev train,the external disturbance and the model uncertainty degrade the stability and smoothness of the electromagnetic levitation(EML)system.This issue necessitates that the EML control system possesses strong robustness to suppress levitation gap fluctuations caused by external disturbances while maintaining insensitivity to equilibrium point shifts and parameter variations.To address this,this paper proposes a novel control method that integrates active disturbance rejection control(ADRC)with a fully actuated system(FAS)approach.Leveraging the fully actuated characteristics of the EML system,this method designs a nonlinear control law to transform the EML system into two cascaded linear time-invariant systems.Building upon this,the concept of ADRC is introduced,where two extended state observers(ESO)are constructed to estimate and compensate for total disturbances in both the current loop and position loop.The closed-loop system's sta-bility and the ESO convergence are rigorously proven using Lyapunov stability theory.Simulation experiments demonstrate that compared with PID,FAS,and model-assisted ADRC methods,the proposed approach achieves superior suppression of levitation gap fluctuations under external disturbances while exhibiting strong robustness against parameter variations.