电机与控制应用2024，Vol.51Issue(11)：54-62,中插6,10.DOI:10.12177/emca.2024.121
基于ESO与线性化反馈的磁悬浮球系统自适应全局积分滑模控制
Adaptive Global Integral Sliding Mode Control of Magnetic Suspension Ball System Based on ESO and Linearized Feedback
摘要
Abstract
[Objective]This paper combined linearized feedback control with adaptive global integral sliding mode control(AGISMC)to optimize the control performance and the control accuracy of the system based on the nonlinear characteristics,uncertainty and susceptibility to external perturbations of the magnetic suspension ball system.[Methods]First,a mathematical model was established using linearized feedback,and adaptive control was employed to achieve real-time estimation of the system parameters to reduce the uncertainty.Second,a global function was introduced to improve the transient response of the system,and the sign function in the sliding mode function was replaced with a saturation function to reduce system chattering.Third,for uncertain disturbances,an extended state observer(ESO)was utilized to estimate unknown disturbance signals in real time.Finally,simulations were conducted in Matlab/Simulink,and an experimental platform was built for validation.[Results]Simulation and experimental results showed that neither the AGISMC-ESO controller nor the proportional integral derivative(PID)controller exhibited overshoot in step response,with the AGISMC-ESO controller achieving a shorter time to reach steady state.The AGISMC-ESO controller compensated more quickly when disturbances occur,allowing the system to reach a steady state rapidly.Under the application of a sinusoidal signal,the actual trajectory of the magnetic suspension system closely matched the displacement curve observed by the ESO.[Conclusion]Compared to the PID controller,the AGISMC-ESO controller designed in this paper offers faster response speed,higher control accuracy,better dynamic tracking performance,and superior disturbance rejection.关键词
磁悬浮球系统/线性化反馈控制/自适应全局积分滑模控制/扩张状态观测器Key words
magnetic suspension ball system/linearized feedback control/adaptive global integral sliding mode control/extended state observer分类
信息技术与安全科学引用本文复制引用
高鹏飞,盛晓超,张登辉..基于ESO与线性化反馈的磁悬浮球系统自适应全局积分滑模控制[J].电机与控制应用,2024,51(11):54-62,中插6,10.基金项目
国家自然科学基金(52105584)National Natural Science Foundation of China(52105584) （52105584）
