TY - JOUR
T1 - Design and Evaluation of State and Disturbance Observers for a Multivariable Magnetic Levitation System
AU - Lu, Yu Sheng
AU - Berkelman, Peter
N1 - Funding Information:
This work was supported by the Ministry of Science and Technology, Taiwan [grant number MOST 109-2221-E-003-022]. The authors are grateful to the Ministry of Science and Technology, Taiwan, for supporting this research under Grant MOST 109-2221-E-003-022. The supports from the University of Hawaii College of Engineering are also gratefully acknowledged.
Funding Information:
The authors are grateful to the Ministry of Science and Technology, Taiwan, for supporting this research under Grant MOST 109-2221-E-003-022. The supports from the University of Hawaii College of Engineering are also gratefully acknowledged.
Publisher Copyright:
© 2023 IETE.
PY - 2023
Y1 - 2023
N2 - For inherently unstable magnetic levitation (maglev) systems, state observation is required for feedback control, and disturbance estimation is needed to compensate for unknown disturbances. Previous designs for simultaneously observing state and disturbance can lead to aggressive disturbance compensation and an unstable levitation. Aiming at these problems, this paper presents a state and disturbance observer that has a cascade structure for a maglev system. The proposed design allows the dynamics of disturbance observation to be separately tuned from those of state observation, avoiding aggressive disturbance compensation and enabling a stable levitation of a maglev system. In this paper, the proposed and previous state and disturbance observers are designed and realized for a maglev system that features wide ranges of translation and rotation motions in five directions. Comparative studies are reported in this paper, and experimental results show feasibility and efficiency of the proposed scheme.
AB - For inherently unstable magnetic levitation (maglev) systems, state observation is required for feedback control, and disturbance estimation is needed to compensate for unknown disturbances. Previous designs for simultaneously observing state and disturbance can lead to aggressive disturbance compensation and an unstable levitation. Aiming at these problems, this paper presents a state and disturbance observer that has a cascade structure for a maglev system. The proposed design allows the dynamics of disturbance observation to be separately tuned from those of state observation, avoiding aggressive disturbance compensation and enabling a stable levitation of a maglev system. In this paper, the proposed and previous state and disturbance observers are designed and realized for a maglev system that features wide ranges of translation and rotation motions in five directions. Comparative studies are reported in this paper, and experimental results show feasibility and efficiency of the proposed scheme.
KW - Luenberger observer
KW - Magnetic levitation
KW - Multi-degree-of-freedom system
KW - Sliding mode
KW - State and disturbance estimation
KW - State and disturbance observer
UR - http://www.scopus.com/inward/record.url?scp=85092638842&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85092638842&partnerID=8YFLogxK
U2 - 10.1080/03772063.2020.1829505
DO - 10.1080/03772063.2020.1829505
M3 - Article
AN - SCOPUS:85092638842
SN - 0377-2063
VL - 69
SP - 420
EP - 437
JO - IETE Journal of Research
JF - IETE Journal of Research
IS - 1
ER -