The distortion characteristics of magnetic force line for magnetic levitation ball winding are analyzed,based on which the motion model of magnetic levitation ball with axial and horizontal degrees of freedom is constructed.Then the matching and mismatching interference in the system is reconstructed into matching interference using model transformation,and a new system state space equation is established.To address the difficulty in obtaining the velocity and acceleration of the air gap in the suspension air gap,as well as the real-time observation of interference,a sliding mode observer for air gap velocity and acceleration with disturbance reconstruction is proposed.Based on this observer,a sliding mode tracking controller is designed.Finally,a sliding mode state observation and tracking cooperative control (SMSOTC) simulation platform with disturbance reconstruction is built to verify the optimization of the proposed control strategy in dynamic response speed,tracking error,and anti-interference performance compared with traditional PID control.