控制理论与应用2026，Vol.43Issue(5)：1142-1155,14.DOI:10.7641/CTA.2025.40266
具有弱模型依赖的电磁悬浮系统主动抗扰控制
Active resisting disturbance control for electromagnetic levitation systems with weak model dependence
摘要
Abstract
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.关键词
EMS型磁浮列车/电磁悬浮系统/全驱系统方法/自抗扰控制Key words
EMS maglev train/electromagnetic levitation system/fully actuated system approach/active disturbance rejection control引用本文复制引用
杨洋,黄翠翠,戴春辉,龙志强..具有弱模型依赖的电磁悬浮系统主动抗扰控制[J].控制理论与应用,2026,43(5):1142-1155,14.基金项目
国家自然科学基金项目(52332011)资助.Supported by the National Natural Science Foundation of China(52332011). （52332011）
