| Abstract:A backstepping-nonsingular fast terminal sliding mode controller was designed to maintain the stability of the suspension height and attitude of the magnetic levitation transmission platform ( MLTP ) when transporting loads with variable types, uneven center of gravity, and uneven mass distribution.Then, a variable coefficient convergence law was designed to achieve rapid stability of the suspension system.Next, an adaptive methods was used to compensate for unbalanced torque interference, reducing the disturbance of unbalanced torque on system stability, correcting suspension attitude deviation, and quickly stabilizing the tray.Finally, the stability of the designed controller is proved and simulated.The simulation show that the designed controller can effectively improve the convergence speed and anti-interference performance of the suspension system, reduce the impact of unbalanced torque on the suspension system, and ensure that the suspension height and attitude quickly reach stability. |
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