High precision position control of magnetic levitation ball system based on generalized disturbance estimation

In this paper, a position control method based on generalized disturbance estimation is proposed to solve the problem of position accuracy of the magnetic levitation ball system under the mismatched multiple disturbances. Firstly, a Luenberger observer is designed to estimate the state variables of the system. Considering the known disturbance information, a generalized disturbance estimator is designed to estimate the disturbance by using the internal model principle. Then, the disturbance estimation and its derivative are introduced into the control law design to eliminate the influence of the mismatched multiple disturbances, and the disturbance compensation gain is designed for the control law. Meanwhile, the reference input compensation gain is designed to solve the problem of tracking the time-varying reference under mismatched disturbance. Then, the stability and anti-disturbance performance of the proposed method are analyzed, and it is proved that the proposed method can achieve high precision position control of the magnetic levitation ball system under mismatched multiple disturbances. In order to verify the effectiveness of the proposed method, the MATLAB/Simulink and the magnetic levitation ball experimental platform are used to simulate and verify the proposed method. © 2024 South China University of Technology. All rights reserved.