Yawing stability and manipulative approach design for maglev car based on active disturbance rejection control

In the present work, to realize the stable static suspension of a new type of electrodynamic wheel (EDW) magnetic levitation (maglev) car without track constraints on the conductor plate. Design and analysis of the active disturbance rejection control and explicit complementary filter (ADRC-ECF) have been presented to solve the maglev car's yaw angle disturbance rejection under low lateral damping characteristics. Simple and efficient ECF helps to filter the high and low frequency noise generated by EDWs when rotating at high speed, to obtain accurate data in real-time. Design and build the hardware control system for maglev car, and conduct experimental comparisons with PID controller to verify the effectiveness of suppressing yaw angle disturbances. Based on simulation and experimental results, it is shown that both PID and ADRC-ECF can improve the stable yaw angle convergence of maglev car under external disturbances. However, ADRC performs better in resisting disturbances than PID and can achieve more accurate fixed angle steering. This paper is the first attempt to control maglev car on a trackless conductor plate for precise steering and anti-disturbance, which is anticipated to have some reference significance in this field.