ESO-based magnetic suspension ball sliding mode variable structure control method

Abstract

The invention relates to an ESO-based magnetic suspension ball sliding mode variable structure control method. The ESO-based magnetic suspension ball sliding mode variable structure control method comprises the following steps that 1, linear treatment is carried out on a mechanism model of a magnetic suspension ball system at the equilibrium point; 2, an expanded state space model of the magneticsuspension ball system is constructed; 3, an ESO for observing and estimating the speed state and unknown disturbance is designed, and disturbance information is used for compensating a controller; 4,the stability of the ESO is determined; 5, an error system of the magnetic suspension ball system is constructed; 6, a sliding mold surface function is designed, and an equivalent control law is solved; and 7, a sliding mode variable structure controller is constructed by using a power approaching law, and a sliding mode control law and a final control law are solved. According to the ESO-based magnetic suspension ball sliding mode variable structure control method, the speed state of small balls and the unknown external disturbance are observed and estimated, the sliding mode variable structure controller is adopted to control the system, a disturbance estimation value serves as the compensation amount of the controller, and the robustness and the anti-interference performance of the system are enhanced.

Description

technical field [0001] The invention relates to a control system of a magnetic levitation ball based on a displacement sensor, in particular to a sliding mode variable structure control method of a magnetic levitation ball based on an extended state observer (Extended state observer, ESO). Background technique [0002] With the development of electromagnetic theory, electromagnetic materials science, power electronics technology, and automation control technology, magnetic levitation technology has also made great progress. In recent years, levitation technology has been widely used in fields such as maglev trains, wind turbines, aerospace, microelectronics, and nuclear reactor centrifuges. Magnetic levitation technology has penetrated into every aspect of our life, so the study of magnetic levitation technology has far-reaching significance. However, the magnetic levitation system is often a complex nonlinear system with multiple degrees of freedom, and its mathematical mo...

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Problems solved by technology

[0005] In order to overcome the shortcomings of the existing maglev platform that cannot obtain the velocity state of the ball and cannot accurately model it, the present invention provides an ESO-based sliding mode variable structure control method for the maglev ball, which can control the velocity state of the ball and the unknown external The disturbance is observed and estimated, and the sliding mode variable structure controller is used to control the system, and the disturbance estimated value is used as the compensation amount of the controller, which enhances the robustness and anti-interference performance of the system

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