基于等价输入干扰滑模观测器的磁悬浮球系统模型预测控制
Model predictive control for magnetic levitation ball system based on equivalent input disturbance sliding mode observer
摘要点击 178  全文点击 59  投稿时间:2020-06-01  修订日期:2020-08-20
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DOI编号  10.7641/CTA.2020.00318
  2021,38(1):137-146
中文关键词  磁悬浮球系统  模型预测控制  滑模观测器  等价输入干扰  扰动抑制
英文关键词  magnetic levitation ball system  model predictive control  sliding mode observer  equivalent input disturbance  disturbance rejection
基金项目  国家自然科学基金项目(61803335), NSFC–浙江两化融合联合基金项目(U1709213).
作者单位E-mail
王军晓 浙江工业大学 wangjunxiao19860128@126.com 
陈林杰 浙江工业大学  
俞立 浙江工业大学  
中文摘要
      本文针对系统不确定性和外部干扰引起的磁悬浮球系统控制性能下降的问题, 提出了一种基于等价输入 干扰滑模观测器的模型预测控制(MPC+EIDSMO)方法. 首先将原系统转化为EID系统, 采用等价输入干扰滑模观测 器对EID系统状态变量及等价输入干扰进行估计; 然后基于状态估计值设计模型预测控制器, 并将等价输入干扰估 计值以前馈的方式补偿后得到最终的复合控制律, 实现对参考位置跟踪的快速性, 准确性以及对总扰动的鲁棒性. 值得注意的是, 与传统EID结构中的龙伯格观测器相比, 等价输入干扰滑模观测器中增加的非线性观测误差反馈项 有助于提高状态估计的快速性和精确性. 从理论上证明了该系统是全局一致毕竟有界的. 仿真和实验结果表明, 相 较于基于EID观测器的模型预测控制方法和基于龙伯格观测器的积分模型预测控制方法, 所提方法提高了磁悬浮 球系统的跟踪性能, 并且有效的抑制了系统不确定性和外部干扰.
英文摘要
      To deal with the problem of degradation in control performance of the magnetic levitation ball system caused by uncertainties and external disturbances, this paper presents an equivalent-input-disturbance-sliding-mode-observer based model predictive control (MPC+EIDSMO) scheme. First, an original system is transformed into an EID system, and an equivalent-input-disturbance-sliding-mode-observer is then used to estimate not only the system states but also the equivalent input disturbance. Then, a model predictive controller is designed based on the state estimations, by compensating the estimation of equivalent input disturbance in a feedforward manner, a composite control law is obtained to achieve the rapid and accurate tracking of the reference positions, as well as the robustness against lumped disturbances. It is worth noticing that compared with the conventional EID with a Luenberger observer, an extra nonlinear observation error feedback term from the equivalent-input-disturbance-sliding-mode-observer helps to improve the rapidity and accuracy of the state estimation. This system is proven theoretically to be globally uniformly ultimately bounded. Simulations and experimental results show that compared with the EID observer based model predictive control and Luenberger observer based integral model predictive control, the proposed method improves the tracking performance and suppresses both the uncertainties and the external disturbances effectively for the magnetic levitation ball system