基于广义扰动估计的磁悬浮球系统高精度位置控制  

High precision position control of magnetic levitation ball system based on generalized disturbance estimation

作　　者：王军晓 陆勤坤 俞立[1] WANG Jun-xiao;LU Qin-kun;YU Li(College of Information Engineering,Zhejiang University of Technology,Hangzhou Zhejiang 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《控制理论与应用》2024年第9期1578-1587,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(62273306)资助.

摘　　要：本文针对磁悬浮球系统在非匹配多源扰动影响下位置控制精度问题,提出了一种基于广义扰动估计的位置控制方法.首先,设计Luenberger观测器对系统状态变量进行估计,并考虑扰动已知信息,利用内模原理设计广义扰动估计器对多源扰动进行估计;然后,为消除非匹配多源扰动对位置输出的影响将扰动估计及其导数引入控制律设计,并对其设计扰动补偿增益,同时设计参考输入补偿增益解决在非匹配扰动下对时变参考位置的跟踪精度问题;其次,对所提方法进行稳定性和抗干扰性能分析,证明了所提方法在非匹配多源扰动下可实现对磁悬浮球系统的高精度位置控制;为了验证所提方法的有效性,在本文最后分别利用MATLAB/Simulink和磁悬浮球实验平台对所提方法进行了仿真和实验验证.In this paper,a position control method based on generalized disturbance estimation is proposed to solve the problem of position accuracy of the magnetic levitation ball system under the mismatched multiple disturbances.Firstly,a Luenberger observer is designed to estimate the state variables of the system.Considering the known disturbance information,a generalized disturbance estimator is designed to estimate the disturbance by using the internal model principle.Then,the disturbance estimation and its derivative are introduced into the control law design to eliminate the influence of the mismatched multiple disturbances,and the disturbance compensation gain is designed for the control law.Meanwhile,the reference input compensation gain is designed to solve the problem of tracking the time-varying reference under mismatched disturbance.Then,the stability and anti-disturbance performance of the proposed method are analyzed,and it is proved that the proposed method can achieve high precision position control of the magnetic levitation ball system under mismatched multiple disturbances.In order to verify the effectiveness of the proposed method,the MATLAB/Simulink and the magnetic levitation ball experimental platform are used to simulate and verify the proposed method.

关 键 词：磁悬浮球系统 非匹配多源扰动 广义扰动估计 扰动抑制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]