Article(id=1262079398992273583, tenantId=1146029695717560320, journalId=1260987750510510108, issueId=1262079396291141802, articleNumber=null, orderNo=null, doi=10.19651/j.cnki.emt.2519291, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1751644800000, receivedDateStr=2025-07-05, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1778832777021, onlineDateStr=2026-05-15, pubDate=null, pubDateStr=null, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1778832777021, onlineIssueDateStr=2026-05-15, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1778832777021, creator=13701087609, updateTime=1778832777021, updator=13701087609, issue=Issue{id=1262079396291141802, tenantId=1146029695717560320, journalId=1260987750510510108, year='2026', volume='49', issue='6', pageStart='1', pageEnd='256', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1778832776377, creator=13701087609, updateTime=1778832914473, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1262079975688122904, tenantId=1146029695717560320, journalId=1260987750510510108, issueId=1262079396291141802, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1262079975688122905, tenantId=1146029695717560320, journalId=1260987750510510108, issueId=1262079396291141802, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=76, endPage=85, ext={EN=ArticleExt(id=1262079400007295159, articleId=1262079398992273583, tenantId=1146029695717560320, journalId=1260987750510510108, language=EN, title=Fractional order linear active disturbance rejection control for electromagnetic levitation system, columnId=1262079399856300214, journalTitle=Electronic Measurement Technology, columnName=Theory and Algorithms, runingTitle=null, highlight=null, articleAbstract=

Aiming at the problems that the electromagnetic levitation system is easily affected by external disturbances and the inherent contradiction of the integer order PD in the traditional linear active disturbance rejection control, this paper proposes a fractional order linear active disturbance rejection control method. The linear extended state observer is used to estimate the total disturbance of the system in real time, and a fractional order differential operator is introduced into the position loop control law. By utilizing the characteristic that its order can be continuously adjusted within the interval (0, 2), the requirements of phase and amplitude in the frequency domain are flexibly adapted. Theoretical analysis shows that fractional-order linear active disturbance rejection controller can simultaneously enhance the disturbance suppression ability in the low-frequency band and suppress the high-frequency noise amplification effect. Simulation and experimental results show that, compared with linear active disturbance rejection control, fractional-order linear active disturbance rejection controller, reduces the position deviation by 48.72%, shortens the adjustment time by 80.28%, and can effectively deal with stronger disturbances and improve the tracking accuracy, significantly enhancing the anti-interference and tracking performance of the system.

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针对电磁悬浮系统易受外部扰动影响及传统线性自抗扰控制的整数阶PD固有矛盾问题，本文提出分数阶线性自抗扰控制方法。通过线性扩张状态观测器实时估计系统总扰动，并在位置环控制律中引入分数阶微分算子，利用其阶次在（0，2）区间连续可调的特性，灵活适配频域内相位与幅值需求。理论分析表明，分数阶线性自抗扰控制能同时增强低频段扰动抑制能力并抑制高频噪声放大效应。仿真与实验结果显示，相较于线性自抗扰控制，分数阶线性自抗扰控制使位置偏移减小48.72%、调节时间缩短80.28%，并能有效应对更强扰动并提升跟踪精度，显著提升了系统的抗干扰性与跟踪性能。

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张振利，副教授，主要研究方向为磁悬浮交通系统。E-mail: 47717770@qq.com

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张振利，副教授，主要研究方向为磁悬浮交通系统。E-mail: 47717770@qq.com

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