无轴承扰动补偿悬浮系统的稳定性分析与验证-控制理论与应用.PDF

29 5 Vol. 29 No. 5 2012 5 Control Theory Applications May 2012 :2012 , (1. , 210016; 2. (), 210019) : , PID, , . , PID, , . , , , . , , . , , . , , . : ; ; ; ; : TP355 : A Stability analysis and verification for bearingless magnetic levitation system with disturbance rejection WANG Xiao-lin , HE Peng (1. College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu 210016, China; 2. LITE-ON Technology Corp, Nanjing Jiangsu 210019, China) Abstract: Although the PID control strategy is widely adopted in the bearingless magnetic levitation system, it is impossible to realize high performance in the levitation control due to the influences of disturbance to the levitation forces and the parameters perturbationetc. To deal with this problem, we develop a novel bearingless levitation system by adding an extended state observer (ESO) to obverse the comprehensive disturbances, making the system able to compensate the disturbances in real-time. The mathematical model of the ESO is built based on the operating principle, and its stability is analyzed. On this basis, the principle of the parameter selection and the stable region of the parameters for the levitation control system are considered theoretically, thus a complete control scheme for the bearingless magnetic levitation system is presented. Additionally, the principle of the parameter adjustment in the nonlinear extended state observer is improved by considering the physical meanings of those parameter