Back-stepping control based on extended state observer for magnetic levitation ball
Aiming at the characteristics of non-linearity,uncertainty and susceptibility to disturbance of single-degree-of-freedom magnetic levitation ball system,a back-stepping control method based on extended state observer (ESO-BS) was proposed to improve the control performance of the system.The extended...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | zho |
| Published: |
Hebei University of Science and Technology
2021-04-01
|
| Series: | Journal of Hebei University of Science and Technology |
| Subjects: | |
| Online Access: | http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202102007&flag=1&journal_ |
| _version_ | 1818570198661201920 |
|---|---|
| author | Binglin LI Li ZENG Pengming ZHANG Zhida ZHU |
| author_facet | Binglin LI Li ZENG Pengming ZHANG Zhida ZHU |
| author_sort | Binglin LI |
| collection | DOAJ |
| description | Aiming at the characteristics of non-linearity,uncertainty and susceptibility to disturbance of single-degree-of-freedom magnetic levitation ball system,a back-stepping control method based on extended state observer (ESO-BS) was proposed to improve the control performance of the system.The extended state observer was used to estimate the position,velocity and disturbance information of the levitation ball in real time when the system was disturbed by uncertainty.The estimation was combined with the controller design,then the back-stepping method was used to design the levitation position tracking control law of the magnetic levitation ball,and the Lyapunov method was used to prove the ultimate bounded convergence of the tracking error of the system.The simulation results show that,compared with PID control,the adjusting time of ESO-BS control system is 0.01 s,while that of PID control is 0.08 s,which is obviously longer,so the dynamic characteristic of ESO-BS control is better than that of PID control.When there is uncertainty in the system,the designed control law can realize the stable suspension of the ball,and can realize the position tracking according to the required suspension height position. |
| first_indexed | 2024-12-14T06:57:31Z |
| format | Article |
| id | doaj.art-439fa55adf6b40aa9a3b5300438bf929 |
| institution | Directory Open Access Journal |
| issn | 1008-1542 |
| language | zho |
| last_indexed | 2024-12-14T06:57:31Z |
| publishDate | 2021-04-01 |
| publisher | Hebei University of Science and Technology |
| record_format | Article |
| series | Journal of Hebei University of Science and Technology |
| spelling | doaj.art-439fa55adf6b40aa9a3b5300438bf9292022-12-21T23:12:35ZzhoHebei University of Science and TechnologyJournal of Hebei University of Science and Technology1008-15422021-04-0142214415110.7535/hbkd.2021yx02007b202102007Back-stepping control based on extended state observer for magnetic levitation ballBinglin LI0Li ZENG1Pengming ZHANG2Zhida ZHU3College of Automobile and Traffic Engineering,Nanjing Forestry University,Nanjing,Jiangsu 210037,ChinaCollege of Mechanical Engineering,Yangzhou University,Yangzhou,Jiangsu 225009,ChinaZhejiang Jinggong Science & Technology Company Limited,Shaoxing,Zhejiang 312030,ChinaCollege of Mechanical Engineering,Yangzhou University,Yangzhou,Jiangsu 225009,ChinaAiming at the characteristics of non-linearity,uncertainty and susceptibility to disturbance of single-degree-of-freedom magnetic levitation ball system,a back-stepping control method based on extended state observer (ESO-BS) was proposed to improve the control performance of the system.The extended state observer was used to estimate the position,velocity and disturbance information of the levitation ball in real time when the system was disturbed by uncertainty.The estimation was combined with the controller design,then the back-stepping method was used to design the levitation position tracking control law of the magnetic levitation ball,and the Lyapunov method was used to prove the ultimate bounded convergence of the tracking error of the system.The simulation results show that,compared with PID control,the adjusting time of ESO-BS control system is 0.01 s,while that of PID control is 0.08 s,which is obviously longer,so the dynamic characteristic of ESO-BS control is better than that of PID control.When there is uncertainty in the system,the designed control law can realize the stable suspension of the ball,and can realize the position tracking according to the required suspension height position.http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202102007&flag=1&journal_control system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position tracking |
| spellingShingle | Binglin LI Li ZENG Pengming ZHANG Zhida ZHU Back-stepping control based on extended state observer for magnetic levitation ball Journal of Hebei University of Science and Technology control system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position tracking |
| title | Back-stepping control based on extended state observer for magnetic levitation ball |
| title_full | Back-stepping control based on extended state observer for magnetic levitation ball |
| title_fullStr | Back-stepping control based on extended state observer for magnetic levitation ball |
| title_full_unstemmed | Back-stepping control based on extended state observer for magnetic levitation ball |
| title_short | Back-stepping control based on extended state observer for magnetic levitation ball |
| title_sort | back stepping control based on extended state observer for magnetic levitation ball |
| topic | control system simulation technology; magnetic levitation ball; extended state observer(eso); back-stepping control; position tracking |
| url | http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b202102007&flag=1&journal_ |
| work_keys_str_mv | AT binglinli backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball AT lizeng backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball AT pengmingzhang backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball AT zhidazhu backsteppingcontrolbasedonextendedstateobserverformagneticlevitationball |