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Composite Hierarchical Control for Magnetic Bearing Based on Disturbance Observer

【摘要】:This paper concerns a class of MIMO system disturbance attenuation and rejection problem for magnetic bearing system.The disturbance is formulated as a hierarchical one with two different parts.The first part is described by an exogenous model,while the second one is uncertain but bounded signal.In consideration of this,a new composite control scheme is presented,a nonlinear tracking differentiator is utilized to estimate system state firstly,by which a nonlinear disturbance observer(DO)for modeled part is designed and then integrate DO with a robust controller to reject the unknown equivalent disturbances.It is shown that with the proposed controller the closed-loop system is uniformly ultimately bounded(UUB)based on Lyapunov approach.Finally,simulations for a magnetic bearing control system shows that by integrating the disturbance observer with conventional control laws,the synchronous vibration caused by unbalance on a rotor can be rejected and the desired dynamic performances can be guaranteed.

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