Research On Adaptive Non-singular Fast Terminal Sliding Mode Control For Magnetic Levitation Platform

The differential magnetic levitation platform system is regarded as the research object,given that the magnetic levitation system is affected by its own parameter change,various external disturbances and other uncertain factors in the processing process,in order to improve the response speed of the system and promote the system robustness,the repetitive control of self-adaptive non-singular rapid terminal slip form for differential magnetic levitation platform system is researched in the design process of controller on the basis of slip form control theory,and the main contents are as follows:Firstly,the observability and controllability of the system are analyzed as per the mathematical model of the differential magnetic levitation platform.We conclude that the differential magnetic levitation platform can reach the steady state by designing the controller,and analyze the advantages of the control strategy for applying the bias current towards the differential magnetic levitation platform.Besides,various disturbance factors of the differential magnetic levitation platform system are analyzed as per the system's features in the processing process,which provides the theoretical basis for the late design of the controller.Secondly,the position loop controller of non-singular rapid terminal slip form for the magnetic levitation platform is designed to meet the magnetic levitation platform requirement on the system rapidity and robustness.The application of non-singular rapid terminal slip form control method in the differential magnetic levitation platform will improve the response speed of the system greatly.Besides,such method can restrain the disturbance effect of the magnetic levitation platform system very well,which indicates that both response speed and robustness of the system are verified through the simulation software after using the designed controller.Finally,the self-adaptive control algorithm is adopted to estimate the system interference in the design process of controller in order to reduce the "buffeting" and improve the control accuracy of the displacement controller of the differential magnetic levitation system.For the easy disturbance of the differential magnetic levitation platform by periodic sine,the plug-in repetition control is adopted to restrain the periodic disturbance of the system.The non-singular rapid terminal slip form control combines with the self-adaptive control and the plug-in repetition control to restrain the periodic disturbance of the system under the premise of reducing the "chatterting" of the system,so as to improve the control accuracy of system and promote the robustness.The simulation software is applied for simulation and comparison of two kinds of different designed control systems.The proposed repetitive control of self-adaptive non-singular rapid terminal slip form is more outstanding in reducing the "buffeting" and restraining the periodic interference,which improves the control accuracy and anti-interference ability of the whole differential magnetic levitation platform.