中文摘要：

介绍一种新型的精密磁浮平台，该平台采用三套悬浮线圈实现悬浮。针对该平台悬浮部分这一参数摄动、多变量、非线性、强耦合的复杂系统，提出一种改进的二阶自抗扰控制方案，该方案不仅可以对内部和外部扰动进行观测和补偿，而且克服了常规自抗扰控制器非线性误差反馈控制律中非线性函数的不平滑性。仿真对比分析和实验结果表明，应用这种改进的二阶自抗扰控制方案后，磁浮平台悬浮高度控制系统具有很好的动态特性、静态特性和鲁棒性。

英文摘要：

A novel precise magnetic suspension platform was introduced, which was suspended through three sets of suspension coil. To aim directly at the suspension system of the planar magnetic suspension stage which was a parameter perturbation, multivariable, nonlinear and strong coupling system, a modified second--order auto--disturbance rejection controller （ADRC） was proposed. This controller observed and compensated the inner disturbance and outside disturbance, and overcome the rough characteristics of non--linear function in nonlinear state error feedback of conventional ADRC. The results of simulation and experiments indicate the suspension altitude control system of the planar magnetic suspension stage has better robustness, dynamic and static performance by using modified second-- order auto-- disturbance rejection control scheme.