An active resisting disturbance control method for high-speed maglev train with weak model dependence.

With the speed of high-speed maglev increasing, external disturbances will be further aggravated, leading to a deterioration in the stability and dynamic performance of the electromagnetic levitation (EML) system. Improving the disturbance rejection capability of EML systems is crucial for ensuring safe and stable train operation. To address this challenge, this paper proposes an active resisting disturbance control method with weak model dependence, combining model reference adaptive control (MRAC) and active disturbance rejection control (ADRC). First, MRAC is used to approximate the plant to the reference model to avoid problems caused by model uncertainty. Then, a linear extended state observer (LESO) is constructed based on nominal model parameters to estimate and compensate for disturbances. Additionally, a tracking differentiator (TD) is incorporated to extract system states for constructing the MRAC law. The Lyapunov stability theory is used to prove that the EML system can achieve stability under the proposed control law. Finally, the simulation experiment and physical verification experiment are designed. The experimental results show that the proposed control method outperforms PID, SMC, and ADRC in disturbance rejection and its control performance is insensitive to the changes in model parameters and equilibrium point.