Fig.1

Assembly drawing of UAPP"

Fig.2

FQPM-LFM and UEWH-MB structure diagram"

Fig.3

Structure diagram and magnetic field distribution of FQPM-LFM"

Fig.4

Electromagnetic thrust distribution curves of FQPM-LFM with different currents and displacements"

Fig.5

Structure diagram and magnetic field distribution of UEWH-MB"

Fig.6

Curves of levitation force and levitation stiffness of UEWH-MB with different displacements"

Fig.7

System block diagram of UAPP"

Fig.8

Position response curves of s-type planning with different thrust fluctuations coefficient"

Fig.9

Position response curves of s-type planning with different levitation stiffness fluctuations coefficient"

Fig.10

Interference model of UAPP"

Fig.11

Bode plot of vibration transmission rate with different levitation stiffness"

Fig.12

Overall block diagram of NAM-CNFADRC algorithm for UAPP"

Fig.13

Position simulation curves of s-type planning instructions with three control methods"

Fig.14

Simulation results of different disturbances with three control methods"

Fig.15

Force characteristic testing experimental platform of FQPM-LFM and UEWH-MB"

Table 1

Structural parameters and force characteristic coefficients of FQPM-LFM and UEWH-MB"

Fig.16

Experimental platform of UAPP"

Fig.17

Position experimental curves with three control methods"

Fig.18

Experimental curves of steady-state error with three control methods"

Table 2

Experimental results of three control methods for positioning"

Fig.19

Experimental results of different disturbances with three control methods"

Table 3

Experimental results of three control methods on different disturbance effects"