基于滑模状态观测器的两自由度磁悬浮球控制

首先分析了磁悬浮球绕组磁力线扭曲特性，构建了含轴向和水平两自由度的磁悬浮球运动模型，采用模型转换，将系统中的匹配性和非匹配性干扰统一重构为匹配性干扰，建立新的系统状态空间方程；其次，针对悬浮气隙中气隙速度与加速度难以获取、干扰实时性观测困难的问题，提出了含干扰重构的气隙速度、加速度滑模观测器，并基于此观测器设计了滑模跟踪控制器；最后搭建含干扰重构的滑模状态观测和跟踪协同控制仿真平台，结果表明所提控制策略在动态响应速度、跟踪误差和抗干扰能力性能方面优于传统PID控制.

Two degree of freedom magnetic levitation ball control based on sliding mode state observer

The distortion characteristics of magnetic force line for magnetic levitation ball winding are analyzed,based on which the motion model of magnetic levitation ball with axial and horizontal degrees of freedom is constructed.Then the matching and mismatching interference in the system is reconstructed into matching interference using model transformation,and a new system state space equation is established.To address the difficulty in obtaining the velocity and acceleration of the air gap in the suspension air gap,as well as the real-time observation of interference,a sliding mode observer for air gap velocity and acceleration with disturbance reconstruction is proposed.Based on this observer,a sliding mode tracking controller is designed.Finally,a sliding mode state observation and tracking cooperative control (SMSOTC) simulation platform with disturbance reconstruction is built to verify the optimization of the proposed control strategy in dynamic response speed,tracking error,and anti-interference performance compared with traditional PID control.