Design and implementation of the adaptive estimator sliding mode controller for a magnetic ball suspension system

摘要

本文提出一種針對磁浮球系統強健穩定及干rn擾抑制的適應滑動模式位置控制設計。通常，傳統rn滑動模式控制設計方法係假設參數變動及外部擾rn動的上界已知，且使用符號函數，會引起高頻切跳rn和高增益的現象。在本文裡，我們提出磁浮球系統rn的一種適應滑動模式控制使系統避免高頻切跳的rn缺點。此種方法利用了Lyapunv函數以確保磁浮rn球系統的漸近收斂及位置命令追蹤。參數變動和外rn部擾動的估測器，係被設計來即時估測未知不確定rn量的值；這不同於傳統適應滑動模式控制係估測未rn知不確定量的最大上界。最後，我們利用實驗結果rn來驗證所提出之方法。%This paper presents an adaptive sliding mode position control design procedure for robust stabilization and disturbance rejection for a magnetic ball suspension system (MBSS). In general, the conventional sliding mode control design assumes that the upper boundary of the parameter variations and external disturbances is known and the sign function is used. Therefore, it causes high frequency chattering and high gain phenomenon. In this paper, we propose an adaptive sliding mode control for the MBSS to avoid the above drawbacks. This method utilizes a Lyapunov function candidate to guarantee the convergence and asymptotically track the MBSS position commands. The estimator of parameter variations and external disturbances is designed to estimate the unknown lumped uncertainty values in real-time. This is different from the conventional adaptive sliding mode control which estimates the unknown upper boundary uncertainty. Finally, we employ the experiments to validate the proposed method.