- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | WEI Jingbo, LUO Hao, GUAN Zijin. Global Fast Terminal Sliding Mode Control for Maglev Ball System Based on Disturbance Observer[J]. Journal of Southwest Jiaotong University, 2023, 58(4): 836-844. doi: 10.3969/j.issn.0258-2724.20210941
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In order to solve model uncertainty and susceptibility to external disturbances of the maglev ball system, a global fast terminal sliding mode control (GFTSMC) method based on a terminal sliding mode disturbance observer (TSMDO) was proposed. Firstly, the mathematical model of the maglev ball system was analyzed, and its dynamic equation was established. Then, a TSMDO was designed to observe and estimate system disturbances. It was proven that the estimated disturbance error of the observer converged in finite time. Secondly, in order to overcome the influence of system uncertainty and external disturbance, a global fast terminal sliding-mode controller (GFTSMC) based on a TSMDO was developed to realize the global fast convergence. The designed control law did not include switching terms, which could weaken the chattering and improve the anti-disturbance and robustness of the system. Finally, the effectiveness of the proposed TSMDO-GFTSMC was verified by simulation. The results show that compared with the continuous sliding mode control method based on the extended state observer, the response time of the maglev ball floating is shortened by 0.38 s, and the displacement deviation is reduced by 90%. The tracking error is reduced from 0.420 mm to 0.032 mm. The proposed method improves the observation accuracy against disturbance, optimizes the control effect of the maglev ball system, and enhances the robustness of the system.
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