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Nonlinear disturbance observer-based model predictive control for magnetically levitated slice motor

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Abstract

Towards magnetically levitated slice motor (MLSM) which is a seriously coupled and nonlinear multi-input–multi-output system with fast dynamics, this paper proposes a novel nonlinear disturbance observer-based model predictive control scheme that decouples the outputs and enhances the system response speed and anti-disturbance capability while guaranteeing robustness and static performances. Based on the nominal mathematical model of MLSM, the closed-form MPC is employed to derive the optimal control inputs offline. With the derived inputs applied, the outputs are decoupled and meanwhile, a fast dynamic response is ensured. Nevertheless, the outputs suffer from various disturbances, including matching and mismatching ones. Aiming to eliminate disturbances from the outputs, a disturbance compensation matrix is deduced while a nonlinear disturbance observer is utilized to give the disturbance estimation. Finally, experiments together with simulations demonstrate that the proposed controller presents superiorities when compared to the dual-loop PID-PI controller. In the experiments, the settling times of speed step and displacement step are reduced by 54.5% and 95%, respectively and overshoots are avoided. Displacement deviation induced by speed step is 0 mm while it is an average of 0.27635 mm under PID-PI controller. Moreover, when disturbed, recovery time and deviation value of the system are reduced simultaneously by over 50%.

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Some or all data, models or code generated or used during the study are available from the corresponding author by request.

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Funding

This work was supported by the National Natural Science Foundation of China (No. 52075475, No. 52105071), the Science Fund for Creative Research Groups of National Natural Science Foundation of China (No. 51821093).

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Authors and Affiliations

  1. State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    Lingling Li, Liang Hu, Rui Su, Xiaodong Ruan, Xin Fu, Zhubing Sun & Chaoning Zhu

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  1. Lingling Li
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  2. Liang Hu
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Correspondence to Liang Hu.

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Li, L., Hu, L., Su, R. et al. Nonlinear disturbance observer-based model predictive control for magnetically levitated slice motor. Nonlinear Dyn 111, 21797–21814 (2023). https://doi.org/10.1007/s11071-023-08996-5

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