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 infor-mation,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 mis-matched 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
Key words
magnetic levitation ball system/mismatched multiple disturbances/generalized disturbance estimation/disturbance rejection
维普
万方数据