Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
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Sliding Mode Control based on Disturbance Observer for Magnetic Levitation Positioning Stage

  • Zhang, Shansi (School of Mechanical Engineering, Beijing Institute of Technology) ;
  • Ma, Shuyuan (School of Mechanical Engineering, Beijing Institute of Technology) ;
  • Wang, Weiming (School of Electrical and Electronics Engineering, Shijiazhuang Tiedao University)
  • Received : 2017.10.15
  • Accepted : 2018.05.23
  • Published : 2018.09.01
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Abstract

Magnetic levitation system with the advantages of non-contact, no friction and no wear can satisfy the requirement of high precision and high speed positioning. In this paper, magnetic levitation positioning stage which mainly consists of planar coil and HALBACH permanent magnet array and its control and driving system are designed. Magnetic levitation system is a highly nonlinear and strongly coupled complex system and its control performance can be influenced by the uncertainty and external disturbance. So exact feedback linearization method is used to realize exact linearization and decoupling, and a strategy of sliding mode control based on disturbance observer is proposed to compensate the uncertainty and external disturbance. Detailed proofs of observer's convergence property and system stability are derived. Both the simulation and experiment results verify the effectiveness of sliding mode control algorithm based on disturbance observer.

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References

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