Maglev Ball Control Algorithm Based on Levant Differentiator
To solve the problem of unsatisfactory control effect of permanent magnet electromagnetic hybrid suspension system caused by signal mutation and noise interference,the control method ILevant-PID,the combination of an improved Levant differentiator and PID,is proposed.The proposed method combines the strong adaptability of PID control and the robust characteristic of Levant differentiator on input noise to solve the chattering problem of the system output.The simulated anneal-particle swarm optimization is utilized to solve the constraints of the ILevant-PID controller,such as multiple parameters and strong correlation.The simulation results show that compared with the traditional PID control method,the ILevant-PID control method starts more gently under the step input,the adjustment time is reduced by 41.19％,and the overshoot is reduced by 40.36％.Experimental verification shows that under the condition of noiseless step input,the steady-state errors of the ILevant-PID controller are±0.37 mm and±0.23 mm respectively,which are more than 87％lower than PID.When tracking square wave input,ILevant-PID can realize non-overshoot tracking of 8 mm given signal that cannot be achieved by PID,which can improve the control performance of the PEMS system.
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