외란관측기를 이용한 비선형 자기부상 시스템의 제어 성능 향상Control Performance Improvement of a Nonlinear Magnetic Levitation System with a Disturbance Observer
- Other Titles
- Control Performance Improvement of a Nonlinear Magnetic Levitation System with a Disturbance Observer
- Authors
- 정우봉; 안형준
- Issue Date
- Apr-2023
- Publisher
- 한국정밀공학회
- Keywords
- 자기부상 시스템; 외란 관측기; 외란 제거; 명령추종; Magnetic levitation system; Disturbance observer; Disturbance rejection; Command following
- Citation
- 한국정밀공학회지, v.40, no.4, pp.329 - 334
- Journal Title
- 한국정밀공학회지
- Volume
- 40
- Number
- 4
- Start Page
- 329
- End Page
- 334
- URI
- http://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/43912
- DOI
- 10.7736/JKSPE.022.133
- ISSN
- 1225-9071
- Abstract
- Magnetic levitation system (MLS) is a typical nonlinear system that controls the position of a steel ball with the magnetic force of the electromagnetic actuator. Since disturbances, due to various external forces and modeling errors, may cause excessive vibration or poor command following, disturbance suppression is necessary to improve the control performance of the MLS. This paper presents a control performance improvement approach of an MLS with a disturbance observer (DOB). First, a mathematical model of the MLS was introduced and validated with the measured frequency response. The MLS steel ball was levitated with a proportional–integral–derivative (PID) controller and a DOB was designed based on the physical model of the MLS. Both disturbance rejection and command tracking performances of the MLS with the DOB were investigated with several design parameters such as PID gains and Q filter. The disturbance rejection and command tracking performances were improved by 76.1% and 64.7%, respectively by using DOB. Finally, the disturbance rejection and command-following performances of the MLS with the DOB were verified experimentally. The effectiveness and limitations of DOB were explained with measured closed-loop frequency responses.
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