Double loop control for magnetic levitation vibrator based on auto-disturbance rejection

In this paper, a new active magnetic levitation vibrator is studied, it is a mixed magnetic levitation system which is made up of permanent magnets and electromagnets, it can reach flexible damp vibration by using the mutual repulsive force between the magnets to provide levitating force. Based on the modeling of the system, According to the nonlinearity of magnetic levitation system of the vibrator, the existence of non-modeling dynamic and uncertainty, and the inaccurate characteristic of the model, we put forward that, with the auto-disturbance rejection controller as outer loop, PID controller as inner loop, to form double-loop feedback control scheme to achieve a stable levitation, damping and disturbance resistance. Comparative analysis by simulation and experiment research show that the magnetic levitation vibrator with this controlling scheme has good dynamic, static characteristic and strong disturbance resistance.