Nonlinear Luenberger observer for velocity estimation in active magnetic levitation system
- Resource Type
- Conference
- Authors
- Bieszczad, Rafal; Pilat, Adam
- Source
- 2023 27th International Conference on Methods and Models in Automation and Robotics (MMAR) Methods and Models in Automation and Robotics (MMAR), 2023 27th International Conference on. :338-343 Aug, 2023
- Subject
- Communication, Networking and Broadcast Technologies
Computing and Processing
Engineering Profession
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Inductance
Uncertainty
PI control
Observers
Robot sensing systems
Mathematical models
Real-time systems
observer
estimation
velocity
levitation
nonlinear
- Language
- ISSN
- 2835-2807
This article presents the problem of designing a nonlinear observer for an active magnetic suspension system. The design process of the nonlinear Luenberger observer (also known as the Kazantzis-Kravaris-Luenberger observer) is discussed. Particular attention was paid to the main nonlinearity of the system - the electromagnetic force, which was modeled applying the function describing the change in inductance as a function of the distance of the levitating object from the electromagnet surface. Theoretical analyses were confirmed by the results of experimental studies in which the task of moving the sphere between the given positions using current control was carried out. Control tasks were conducted in the real-time regime on an embedded platform. The measured signals and estimated velocity were analyzed in the context of future implementations in control applications.