基于非线性干扰观测器的磁悬浮球系统自适应反演滑模控制  

A Study on Magnetic Levitation Ball System based on Adaptive Inversion Sliding Mode Control based on Nonlinear Disturbance Observer

作　　者：罗国威 韩光信[1] LUO Guowei;HAN Guangxin(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]吉林化工学院

出　　处：《吉林化工学院学报》2024年第3期42-49,共8页Journal of Jilin Institute of Chemical Technology

摘　　要：为解决磁悬浮球系统易受模型内部参数变化和外界干扰的问题,提出了基于非线性干扰观测器的自适应反演滑模控制算法(NDO-ABSMC)。首先,建立磁悬浮球系统状态空间模型,然后设计非线性干扰观测器(NDOB),用来观测系统受到的外部干扰,经证明,该观测器对扰动的观测误差可以在有限时间内收敛。其次,为克服系统不确定性,设计了基于非线性干扰观测器的自适应反演滑模控制器;最后,对所提出的(NDO-ABSMC)进行了仿真验证。结果表明:与反演滑模控制算法(BSMC)相比,基于非线性干扰观测器的自适应反演滑模控制对扰动有明显的抑制作用,轨迹跟踪效果显著,优化了磁悬浮球系统的控制效果,增强了系统的鲁棒性。In order to solve the problem that magnetic levitation ball system was susceptible to internal parameter changes and external disturbance,an adaptive inverse sliding mode control algorithm(NDO-ABSMC)based on nonlinear disturbance observer was proposed.Firstly,the state space model of magnetic levitation spherical system was established,and then a nonlinear disturbance observer(NDOB)was designed to observe the external disturbance of the system.It was proved that the observation error of the observer can converge in a finite time.Secondly,in order to overcome the uncertainty of the system,an adaptive inverse sliding mode controller based on nonlinear disturbance observer was designed.Finally,the proposed method(NDO-ABSMC)was verified by simulation.The results showed that,compared with the inversion sliding mode control algorithm(BSMC),the adaptive inversion sliding mode control based on nonlinear disturbance observer had obvious suppression effect on the disturbance,the trajectory tracking effect was remarkable,which optimizes the control effect of the magnetic levitation ball system and enhances the robustness of the system.

关 键 词：磁悬浮球系统 轨迹跟踪 非线性干扰观测器 自适应反演滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]