TY - JOUR
T1 - Disturbance-observer-based control of a 6-DOF magnetic levitation table with an optimal distribution of electromagnetic forces
AU - Lu, Yu Sheng
PY - 2005
Y1 - 2005
N2 - Based on optimization techniques and sliding-mode disturbance observers, this paper presents a controller design for a six-degree-of-freedom table magnetically levitated by attractive forces. Due to the commonly-used structure of four-point attraction, the levitation system has one subsystem with four independent inputs and three independent outputs. By making use of the control redundancy in this subsystem, an optimal distribution of electromagnetic forces is designed to both minimize the energy loss and also to diminish the possible problem of actuator saturation. To yield a robust levitation system, this paper presents a sliding-mode disturbance observer that estimates system perturbation and generates minimal control to govern system dynamics to a desired one. The feasibility of the proposed scheme is demonstrated through computer simulation.
AB - Based on optimization techniques and sliding-mode disturbance observers, this paper presents a controller design for a six-degree-of-freedom table magnetically levitated by attractive forces. Due to the commonly-used structure of four-point attraction, the levitation system has one subsystem with four independent inputs and three independent outputs. By making use of the control redundancy in this subsystem, an optimal distribution of electromagnetic forces is designed to both minimize the energy loss and also to diminish the possible problem of actuator saturation. To yield a robust levitation system, this paper presents a sliding-mode disturbance observer that estimates system perturbation and generates minimal control to govern system dynamics to a desired one. The feasibility of the proposed scheme is demonstrated through computer simulation.
KW - Disturbance observer
KW - Magnetic levitation system
KW - Optimal force distribution
KW - Sliding mode
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M3 - Article
AN - SCOPUS:33847110820
SN - 0257-9731
VL - 26
SP - 297
EP - 308
JO - Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
JF - Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao
IS - 3
ER -