A nonlinear disturbance observer for multivariable systems and its application to magnetic bearing systems
A nonlinear disturbance observer for multivariable systems and its application to magnetic bearing systems
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DOI：
10.1109/tcst.2004.825135
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发表时间：
2004-06
影响因子：
4.8
通讯作者：
Xinkai Chen;C. Su;T. Fukuda
中科院分区：
文献类型：
--
作者：
Xinkai Chen;C. Su;T. Fukuda
本文提出了一个新的非线性扰动观察者，用于具有任意相对程度的多变量最小相系统。模型不确定性和系统非线性被视为干扰。个体干扰的估计彼此独立，并且可以独立估计干扰的衍生物。所提出的公式的灵感来自可变结构控制方法和自适应算法，其中不需要有关干扰上限及其衍生物的先验信息。非线性扰动观察者对干扰类型具有鲁棒性。稳定性分析表明，估计误差指数下降到稳定值，该值由设计参数确定。为了说明该方法，将提出的设计应用于垂直轴磁性系统，在该系统中，旋转干扰及其导数是根据旋转运动的线性化模型估算的。仿真结果显示了所提出的方法的有效性。
This paper proposes a new nonlinear-disturbance observer for multivariable minimum-phase systems with arbitrary relative degrees. The model uncertainties and the system nonlinearities are treated as disturbances. The estimation of individual disturbances is independent of each other and the derivatives of the disturbances can be independently estimated. The proposed formulation is inspired by the variable structure-control method and adaptive algorithms where the a priori information concerning the upper bounds of the disturbances and their derivatives is not required. The nonlinear-disturbance observer is robust to the types of disturbances. Stability analysis shows that the estimation error decreases exponentially to a steady value, which is determined by the design parameters. To illustrate the method, the proposed design is applied to a vertical-shaft magnetic-bearing system where the rotational disturbances and their derivatives are estimated based on a linearized model of the rotational motion. Simulation results show the effectiveness of the proposed method.