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Sensorless Control of the Levitated Ball ?

机译：悬浮球的无传感器控制 ？

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摘要

One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature. However, to the best of our knowledge, the design of a stabilizing law measuring only the current and the voltage—so-called sensorless control—is conspicuous by its absence. Besides its unquestionable theoretical interest, the trade off between cost and reliability of position sensors for magnetic levitated systems, makes the problem of great practical application. Our main contribution is to provide the first solution to this problem without linearisation and signal injection. Instrumental for the development of the theory is the use of parameter estimation-based observers, which combined with the dynamic regressor extension and mixing parameter estimation technique, allow the reconstruction of the magnetic flux. With the knowledge of the latter it is shown that the mechanical coordinates can be estimated with suitably tailored nonlinear observers. Replacing the observed states, in a certainty equivalent manner, with a full information asymptotically stabilising law completes the sensorless controller design. Simulation results are used to illustrate the performance of the proposed scheme.
机译：非线性控制理论中研究最广泛的动力学系统之一是悬浮球。文献已经报道了几种确保球位置渐近调节的全状态反馈控制器。然而，就我们所知，仅测量电流和电压的稳定定律的设计（即所谓的无传感器控制）因其缺失而引人注目。除了其毫无疑问的理论兴趣之外，磁悬浮系统的位置传感器的成本和可靠性之间的权衡还带来了很大的实际应用问题。我们的主要贡献是在没有线性化和信号注入的情况下为该问题提供了第一个解决方案。理论发展的工具是使用基于参数估计的观测器，结合动态回归扩展和混合参数估计技术，可以重建磁通量。根据对后者的了解，可以看出，可以使用适当定制的非线性观测器来估算机械坐标。以确定的等效方式用完整的信息渐近稳定定律替换观察到的状态即可完成无传感器控制器的设计。仿真结果说明了该方案的性能。

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