Design method and system of strong interference resistant low hysteresis loop switching frequency control for magnetic suspension motor

Abstract

The application relates to the technical field of motor automatic control, and provides a magnetic suspension motor strong-interference-resistant low-hysteresis-loop switching frequency control design method and system, wherein the method comprises the following steps: constructing a magnetic suspension motor motion equation based on Newton's law; constructing a sliding mode surface of a sliding mode controller of the magnetic suspension motor; and designing a magnetic suspension motor control method based on adaptive second-order sliding mode based on the sliding mode surface. The application provides a design method for strong-interference-resistant low-hysteresis-loop switching frequency control of a vehicle-mounted flywheel energy storage magnetic suspension motor. The method establishes a motion equation model of the magnetic suspension motor, constructs a sliding mode surface based on the model, and designs a magnetic suspension switched reluctance motor control method based on adaptive second-order sliding mode. The technical scheme of the application can obtain the beneficial effects that the control method can ensure system stability while realizing fast convergence, has smaller sliding mode chattering, reduces the working frequency of the hysteresis loop switch, and prolongs the working life.

Description

Technical Field

[0001] This invention relates to the field of motor automation control technology, and in particular to a design method and system for a magnetic levitation motor with strong disturbance resistance and low hysteresis switching frequency control. Background Technology

[0002] Flywheel energy storage technology is a technology that uses a high-speed rotating flywheel to convert clean energy sources such as wind, solar, and electrical energy into the kinetic energy of the flywheel and store it. Compared with other forms of energy storage, flywheel energy storage has significant advantages such as high energy density, high efficiency in energy conversion, long service life, short charging time, low pollution, and no overcharging or over-discharging problems. It is an energy storage technology with high research value and broad application prospects.

[0003] Magnetic levitation motors combine magnetic bearing technology with motor technology, offering advantages such as high integration, frictionless operation, and high speed, making them widely used in vehicle-mounted flywheel energy storage. During operation, the levitation force of a magnetic levitation motor in vehicle-mounted flywheel energy storage is affected by both external disturbances and levitation force pulsations, thus requiring suppression of both disturbances. Sliding mode control is an effective means of achieving strong disturbance suppression for magnetic levitation motors, achieving strong disturbance suppression by selecting a larger sliding mode gain. However, excessively large sliding mode gain can cause high chattering, leading to excessively high hysteresis switching frequencies and affecting its service life. Summary of the Invention

[0004] The purpose of this invention is to solve at least one technical problem in the background art and to provide a design method and system for anti-strong disturbance and low hysteresis switching frequency control of magnetic levitation motors.

[0005] To achieve the above objectives, this invention provides a design method for a magnetic levitation motor with strong disturbance rejection and low hysteresis switching frequency control, comprising:

[0006] The equations of motion for a magnetic levitation motor are constructed based on Newton's laws.

[0007] Construct the sliding surface of the sliding mode controller for the magnetic levitation motor;

[0008] A magnetic levitation motor control method based on adaptive second-order sliding mode design using sliding surface design.

[0009] According to one aspect of the present invention, the operating equation of the magnetic levitation motor is:

[0010]

[0011] Among them, l x v represents the displacement of the rotor along the x-axis, which is the degree of freedom of the rotor. x F is the rotor velocity with x-axis degree of freedom. x Electromagnetic force for the x-axis degree of freedom; F L Let M be the disturbance force along the x-axis degree of freedom, and M be the rotor mass.

[0012] According to one aspect of the present invention, the sliding surface of the sliding mode controller for constructing the magnetic levitation motor includes:

[0013] The operating equation of the magnetic levitation motor is converted into the following form:

[0014]

[0015] in, d represents the sum of the distractors;

[0016] Let the single-degree-of-freedom displacement of the rotor's x-axis be l. x Given a reference displacement of l x * Then the displacement tracking error can be expressed as:

[0017] e = l x * -l x

[0018] Using the linear combination of displacement error and its first derivative, the sliding surface is defined as:

[0019]

[0020] In the formula, c is the gain coefficient, and s represents the sliding surface. If the system moves to the sliding surface, then:

[0021]

[0022] Where t is time and t0 is the start time. From the above equation, it can be seen that the value of the gain coefficient c determines the speed at which the sliding mode variable approaches zero.

[0023] According to one aspect of the present invention, the method for designing a magnetic levitation motor control based on an adaptive second-order sliding mode, based on a sliding surface, includes:

[0024] Design a second-order superhelical sliding mode controller for a magnetic levitation motor;

[0025] Design adaptive sliding mode gain.

[0026] According to one aspect of the present invention, the second-order superspiral sliding mode controller for designing a magnetic levitation motor comprises:

[0027] Design the control law u(t):

[0028] u(t) = u1(t) + u2(t)

[0029] Wherein, the control law u(t) is the variable of the second-order superspiral sliding mode controller, and we have:

[0030]

[0031] Combining the equation u(t) = u1(t) + u2(t), we have:

[0032]

[0033] Where λ1 and λ2 are sliding mode gain coefficients, and sgn(s) is a sign function with respect to the sliding surface s;

[0034] Combining the motion equations of the magnetic levitation motor with the algorithm for constructing the sliding surface, the second-order superspiral sliding mode controller for the magnetic levitation motor is obtained as follows:

[0035] F x =M[λ1|s| 1 / 2 sgn(s)-Z], where,

[0036] According to one aspect of the present invention, based on Lyapunov stability theory, the system controlling the magnetic levitation motor is stable when the following conditions are met:

[0037]

[0038] Where δ is a positive constant.

[0039] According to one aspect of the invention, the adaptive sliding mode gain is:

[0040]

[0041] Where μ1 and μ2 are adaptive sliding mode gains, α, ε, and β are positive constants, and the role of β is to ensure that μ1 is positive.

[0042] To achieve the above objectives, the present invention also provides a magnetic levitation motor anti-disturbance low hysteresis switching frequency control design system, comprising:

[0043] The motion equation construction module constructs the motion equations of the magnetic levitation motor based on Newton's laws.

[0044] The sliding surface construction module constructs the sliding surface of the sliding controller for the magnetic levitation motor.

[0045] The control method design module designs a magnetic levitation motor control method based on adaptive second-order sliding mode, based on sliding mode.

[0046] To achieve the above objectives, the present invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the magnetic levitation motor anti-disturbance low hysteresis switching frequency control design method as described above.

[0047] To achieve the above objectives, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the magnetic levitation motor anti-disturbance low hysteresis switching frequency control design method as described above.

[0048] According to the present invention, a design method for anti-disturbance low-hysteresis switching frequency control of a magnetic levitation motor includes: constructing the motion equation of the magnetic levitation motor based on Newton's laws; constructing the sliding surface of the sliding mode controller for the magnetic levitation motor; and designing a magnetic levitation motor control method based on adaptive second-order sliding mode based on the sliding surface. This invention proposes a design method for anti-disturbance low-hysteresis switching frequency control of an on-board flywheel energy storage magnetic levitation motor. This method establishes a motion equation model of the magnetic levitation motor, constructs a sliding surface based on this model, and designs a magnetic levitation switched reluctance motor control method based on adaptive second-order sliding mode. The advantages of this invention are that the control method can achieve fast convergence while ensuring system stability, and has lower sliding mode chattering, reducing the operating frequency of the hysteresis switch and extending its service life.

[0049] Based on the solution of this invention, when a magnetic levitation motor is applied to an on-board flywheel battery, it needs to possess strong disturbance rejection capability. Sliding mode control is an effective means to achieve strong disturbance rejection control of the magnetic levitation motor, which can suppress strong disturbances by selecting a larger sliding mode gain. However, excessively large sliding mode gain will cause high chattering, resulting in excessively high hysteresis switching frequency and affecting its service life. To address this problem, this invention designs a method for controlling the low hysteresis switching frequency of a magnetic levitation motor for on-board flywheel energy storage. This method designs a second-order sliding mode control method based on adaptive parameters, which can ensure system stability while having lower sliding mode chattering, thereby reducing the operating frequency of the hysteresis switch. Attached Figure Description

[0050] Figure 1 The flowchart illustrates a design method for a magnetic levitation motor anti-disturbance low hysteresis switching frequency control according to an embodiment of the present invention. Detailed Implementation

[0051] The invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0052] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment".

[0053] Figure 1 The flowchart schematically illustrates a design method for a magnetic levitation motor with strong disturbance rejection and low hysteresis switching frequency control according to an embodiment of the present invention. Figure 1 As shown in this embodiment, the design method for anti-disturbance low hysteresis switching frequency control of a magnetic levitation motor includes:

[0054] a. Constructing the motion equations of a magnetic levitation motor based on Newton's laws;

[0055] b. Construct the sliding surface of the sliding mode controller for the magnetic levitation motor;

[0056] c. Based on the sliding mode surface, design a control method for a magnetic levitation motor based on adaptive second-order sliding mode.

[0057] According to the present invention, a design method for strong disturbance and low hysteresis switching frequency control of an on-board flywheel energy storage magnetic levitation motor is proposed. This method establishes a motion equation model of the magnetic levitation motor, constructs a sliding mode surface based on this model, and designs a control method for the magnetic levitation switched reluctance motor based on adaptive second-order sliding mode. The advantages of this invention are that the control method can achieve rapid convergence while ensuring system stability, and has lower sliding mode chattering, reducing the operating frequency of the hysteresis switch and extending its service life.

[0058] According to one embodiment of the present invention, in step a above, the operating equation of the magnetic levitation motor is:

[0059]

[0060] Among them, l x v represents the displacement of the rotor along the x-axis, which is the degree of freedom of the rotor. x F is the rotor velocity with x-axis degree of freedom. x Electromagnetic force for the x-axis degree of freedom; F L Let M be the disturbance force along the x-axis degree of freedom, and M be the rotor mass.

[0061] Furthermore, according to one embodiment of the present invention, in step b above, the sliding surface for constructing the sliding mode controller of the magnetic levitation motor includes:

[0062] The operating equation of the magnetic levitation motor is converted into the following form:

[0063]

[0064] in, d represents the sum of the distractors;

[0065] Let the single-degree-of-freedom displacement of the rotor's x-axis be l. x Given a reference displacement of l x * Then the displacement tracking error can be expressed as:

[0066] e = l x * -l x

[0067] Using the linear combination of displacement error and its first derivative, the sliding surface is defined as:

[0068]

[0069] In the formula, c is the gain coefficient, and s represents the sliding surface. If the system moves to the sliding surface (s = 0), then:

[0070]

[0071] Where t is time and t0 is the start time. From the above equation, it can be seen that the value of the gain coefficient c determines the speed at which the sliding mode variable approaches zero.

[0072] Furthermore, according to one embodiment of the present invention, in step c above, a magnetic levitation motor control method based on adaptive second-order sliding mode is designed based on the sliding surface, including:

[0073] Design a second-order superhelical sliding mode controller for a magnetic levitation motor;

[0074] Design adaptive sliding mode gain.

[0075] In this embodiment, a second-order superspiral sliding mode controller for a magnetic levitation motor is designed, including:

[0076] Design the control law u(t):

[0077] u(t) = u1(t) + u2(t)

[0078] Wherein, the control law u(t) is the variable of the second-order superspiral sliding mode controller, and we have:

[0079]

[0080] Combining the equation u(t) = u1(t) + u2(t), we have:

[0081]

[0082] Where λ1 and λ2 are sliding mode gain coefficients, and sgn(s) is a sign function with respect to the sliding surface;

[0083] Combining the motion equations of the magnetic levitation motor with the sliding mode algorithm, the second-order superspiral sliding mode controller of the magnetic levitation motor is obtained as follows:

[0084] F x =M[λ1|s| 1 / 2 sgn(s)-Z], where,

[0085] In this embodiment, based on Lyapunov stability theory, the system controlling the magnetic levitation motor is stable when the following conditions are met:

[0086]

[0087] Where δ is a positive constant.

[0088] As can be seen from the above formula, λ1 and λ2 are constant. It can be seen that too low a gain will cause the system to fail to converge, while too high a gain will cause large sliding mode chattering and degrade system performance.

[0089] Furthermore, to address the aforementioned issues, in this embodiment, the adaptive sliding mode gain is designed as follows:

[0090]

[0091] Where μ1 and μ2 are adaptive sliding mode gains, α, ε, and β are positive constants, and the role of β is to ensure that μ1 is positive.

[0092] In this embodiment, the above-mentioned strategy of using adaptive sliding mode gain is proposed to solve the system performance problem caused by constant gain.

[0093] In this embodiment, as shown in the above equation, when the system experiences large disturbances, λ1 takes a larger value, resulting in faster system convergence and a quicker approach to the sliding surface. After the system stabilizes, λ1 takes a smaller value, effectively reducing sliding mode chattering while maintaining stability. This control method improves system performance by reducing sliding mode chattering and decreasing the operating frequency of the hysteresis switch, thus extending its service life.

[0094] Based on the above-mentioned solution of the present invention, it is worth emphasizing that when the magnetic levitation motor is applied to the vehicle flywheel battery, it needs to have strong disturbance rejection capability. Sliding mode control is an effective means to achieve strong disturbance rejection control of the magnetic levitation motor. It can suppress strong disturbances by selecting a larger sliding mode gain. However, excessively large sliding mode gain will cause high chattering, resulting in excessively high hysteresis switching frequency and affecting its service life. To address this problem, the present invention designs a method for controlling the magnetic levitation motor with low hysteresis switching frequency for strong disturbance rejection in the above-mentioned vehicle flywheel energy storage. This method designs a second-order sliding mode control method based on adaptive parameters, which can ensure system stability while having lower sliding mode chattering, thereby reducing the operating frequency of the hysteresis switch.

[0095] Furthermore, to achieve the above objectives, the present invention also provides a magnetic levitation motor anti-disturbance low hysteresis switching frequency control design system, comprising:

[0096] The motion equation construction module constructs the motion equations of the magnetic levitation motor based on Newton's laws.

[0097] The sliding surface construction module constructs the sliding surface of the sliding controller for the magnetic levitation motor.

[0098] The control method design module designs a magnetic levitation motor control method based on adaptive second-order sliding mode, based on sliding mode.

[0099] According to the present invention, a design system for strong disturbance and low hysteresis switching frequency control of an on-board flywheel energy storage magnetic levitation motor is proposed. This system establishes a motion equation model of the magnetic levitation motor, constructs a sliding mode surface based on this model, and designs a magnetic levitation switched reluctance motor control method based on adaptive second-order sliding mode. The advantages of this invention are that the control system can achieve rapid convergence while ensuring system stability, and has lower sliding mode chattering, reducing the operating frequency of the hysteresis switch and extending its service life.

[0100] According to one embodiment of the present invention, in the above-mentioned motion equation construction module, the operating equation of the magnetic levitation motor is:

[0101]

[0102] Among them, l x v represents the displacement of the rotor along the x-axis, which is the degree of freedom of the rotor. x F is the rotor velocity with x-axis degree of freedom. x Electromagnetic force for the x-axis degree of freedom; F L Let M be the disturbance force along the x-axis degree of freedom, and M be the rotor mass.

[0103] Furthermore, according to one embodiment of the present invention, in the above-described sliding surface construction module, the sliding surface for constructing the sliding surface controller of the magnetic levitation motor includes:

[0104] The operating equation of the magnetic levitation motor is converted into the following form:

[0105]

[0106] in, d represents the sum of the distractors;

[0107] Let the single-degree-of-freedom displacement of the rotor's x-axis be l. x Given a reference displacement of l x * Then the displacement tracking error can be expressed as:

[0108] e = l x * -l x

[0109] Using the linear combination of displacement error and its first derivative, the sliding surface is defined as:

[0110]

[0111] In the formula, c is the gain coefficient, and s represents the sliding surface. If the system moves to the sliding surface (s = 0), then:

[0112]

[0113] Where t is time and t0 is the start time. From the above equation, it can be seen that the value of the gain coefficient c determines the speed at which the sliding mode variable approaches zero.

[0114] Furthermore, according to one embodiment of the present invention, in the above-described control method design module, a magnetic levitation motor control method based on adaptive second-order sliding mode is designed based on the sliding surface, including:

[0115] Design a second-order superhelical sliding mode controller for a magnetic levitation motor;

[0116] Design adaptive sliding mode gain.

[0117] In this embodiment, a second-order superspiral sliding mode controller for a magnetic levitation motor is designed, including:

[0118] Design the control law u(t):

[0119] u(t) = u1(t) + u2(t)

[0120] Wherein, the control law u(t) is the variable of the second-order superspiral sliding mode controller, and we have:

[0121]

[0122] Combining the equation u(t) = u1(t) + u2(t), we have:

[0123]

[0124] Where λ1 and λ2 are sliding mode gain coefficients, and sgn(s) is a sign function with respect to the sliding surface s;

[0125] Combining the motion equations of the magnetic levitation motor with the sliding mode algorithm, the second-order superspiral sliding mode controller of the magnetic levitation motor is obtained as follows:

[0126] F x =M[λ1|s| 1 / 2 sgn(s)-Z], where,

[0127] In this embodiment, based on Lyapunov stability theory, the system controlling the magnetic levitation motor is stable when the following conditions are met:

[0128]

[0129] Where δ is a positive constant.

[0130] As can be seen from the above formula, λ1 and λ2 are constant. It can be seen that too low a gain will cause the system to fail to converge, while too high a gain will cause large sliding mode chattering and degrade system performance.

[0131] Furthermore, to address the aforementioned issues, in this embodiment, the adaptive sliding mode gain is designed as follows:

[0132]

[0133] Where μ1 and μ2 are adaptive sliding mode gains, α, ε, and β are positive constants, and the role of β is to ensure that μ1 is positive.

[0134] In this embodiment, the above-mentioned strategy of using adaptive sliding mode gain is proposed to solve the system performance problem caused by constant gain.

[0135] In this embodiment, as shown in the above equation, when the system experiences large disturbances, λ1 takes a larger value, resulting in faster system convergence and a quicker approach to the sliding surface. After the system stabilizes, λ1 takes a smaller value, effectively reducing sliding mode chattering while maintaining stability. This control method improves system performance by reducing sliding mode chattering and decreasing the operating frequency of the hysteresis switch, thus extending its service life.

[0136] Based on the above-described solution of this invention, it is worth emphasizing that when a magnetic levitation motor is applied to an on-board flywheel battery, it needs to possess strong disturbance rejection capability. Sliding mode control is an effective means of achieving strong disturbance rejection control for magnetic levitation motors, as it can suppress strong disturbances by selecting a larger sliding mode gain. However, excessively large sliding mode gain can cause high chattering, resulting in excessively high hysteresis switching frequencies and affecting its service life. To address this problem, this invention designs a system for controlling the low hysteresis switching frequency of a magnetic levitation motor for on-board flywheel energy storage. This system designs a second-order sliding mode control method based on adaptive parameters, which can ensure system stability while exhibiting lower sliding mode chattering, thereby reducing the operating frequency of the hysteresis switch.

[0137] Furthermore, to achieve the above objectives, the present invention also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the above-described design method for anti-disturbance low hysteresis switching frequency control of a magnetic levitation motor.

[0138] Furthermore, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described design method for anti-disturbance low hysteresis switching frequency control of a magnetic levitation motor.

[0139] Those skilled in the art will recognize that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0140] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and equipment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0141] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0142] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

[0143] In addition, the functional modules in the embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0144] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the energy-saving signal transmission / reception methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0145] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0146] It should be understood that the sequence number of each step in the invention and embodiments of the present invention does not absolutely imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. A design method for anti-strong disturbance and low hysteresis switching frequency control of a magnetic levitation motor, characterized in that, include: The motion equations of a magnetic levitation motor are constructed based on Newton's laws. Construct the sliding surface of the sliding mode controller for the magnetic levitation motor; A magnetic levitation motor control method based on adaptive second-order sliding mode design based on sliding surface design; The sliding surface of the sliding mode controller for constructing the magnetic levitation motor includes: The operating equation of the magnetic levitation motor is converted into the following form: ； in, F x is the electromagnetic force for the x-axis degree of freedom, M is the rotor mass; d represents the sum of disturbance terms; Let the single-degree-of-freedom displacement of the rotor's x-axis be l. x Given a reference displacement of l x * Then the displacement tracking error can be expressed as: Using the linear combination of displacement error and its first derivative, the sliding surface is defined as: In the formula, c is the gain coefficient, and s represents the sliding surface. If the system moves to the sliding surface, then: Where t is time, and t0 is the start time; The aforementioned magnetic levitation motor control method based on an adaptive second-order sliding mode, designed based on a sliding surface, includes: Design a second-order superhelical sliding mode controller for a magnetic levitation motor; Design adaptive sliding mode gain; The second-order superspiral sliding mode controller for the magnetic levitation motor is designed as follows: Design the control law u(t): Wherein, the control law u(t) is the variable of the second-order superspiral sliding mode controller, and we have: Combined ,have: Where λ1 and λ2 are the sliding mode gain coefficients, and sgn(s) is the sign function with respect to the sliding surface s; Combining the motion equations of the magnetic levitation motor with the algorithm for constructing the sliding surface, the second-order superspiral sliding mode controller for the magnetic levitation motor is obtained as follows: ,in, ; The adaptive sliding mode gain of the design is: Where μ1 and μ2 are adaptive sliding mode gains, α, ε, and β are positive constants, and β is used to ensure that μ1 is positive.

2. The magnetic levitation motor anti-disturbance low hysteresis switching frequency control design method according to claim 1, characterized in that, The operating equation of the magnetic levitation motor is: Among them, l x v represents the displacement of the rotor along the x-axis, which is the degree of freedom of the rotor. x F is the rotor velocity with x-axis degree of freedom. L The disturbance force is the x-axis degree of freedom.

3. The magnetic levitation motor anti-disturbance low hysteresis switching frequency control design method according to claim 1, characterized in that, According to Lyapunov stability theory, the following conditions must be met for a system controlling a magnetic levitation motor to be stable: Where δ is a positive constant.

4. A magnetic levitation motor anti-disturbance low hysteresis switching frequency control design system for implementing the anti-disturbance low hysteresis switching frequency control design method for magnetic levitation motors according to any one of claims 1-3, characterized in that, include: The motion equation construction module constructs the motion equations of the magnetic levitation motor based on Newton's laws. The sliding surface construction module constructs the sliding surface of the sliding controller for the magnetic levitation motor. The control method design module designs a magnetic levitation motor control method based on adaptive second-order sliding mode, based on sliding mode.

5. An electronic device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the magnetic levitation motor anti-disturbance low hysteresis switching frequency control design method as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the magnetic levitation motor anti-disturbance low hysteresis switching frequency control design method as described in any one of claims 1 to 3.

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