Based on Sliding Mode and Adaptive Linear Active Disturbance Rejection Control for a Magnetic Levitation System

Abstract

The magnetic levitation system has evident advantages in reducing energy consumption, but its nonlinear characteristics increase the difficulty of control. This study proposes a control method that combines the improved particle swarm optimisation algorithm with sliding mode control and adaptive linear active disturbance rejection control (IPSO–SMC–ALADRC) to address the problems of weak anti-interference ability and stability in the application of traditional control methods in single-point magnetic levitation ball systems. First, a mathematical model of a single-point magnetic levitation ball is established. Second, the proportional and differential coefficients of LADRC are adjusted using adaptive laws, and the adaptive LADRC is combined with SMC to achieve stable control of the magnetic levitation ball. Moreover, an improved particle swarm optimisation algorithm is proposed to address the considerable number of adjustable parameters in the controller. The convergence and stability of the control algorithm were demonstrated using the Lyapunov equation. Finally, PID and LADRC are introduced for simulation and experimental comparison to verify the effectiveness of this control method. Results indicate that IPSO–SMC–ALADRC has excellent stability and anti-interference performance. This study addresses the problem of weak stability and anti-interference performance in the application of traditional control methods in the maglev system and further promotes the application of active disturbance rejection control in the magnetic levitation system.