Cascaded Backstepping Control for a Permanent Magnet Linear Motor using a Dual Kalman Filter

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As the drive force depends in a nonlinear manner on the currents, an accurate tracking control of permanent magnet linear motors is challenging. In this paper, a cascaded control is proposed and combined with a recursive estimator. In the inner loop of the cascaded structure, an inversion-based control design is employed in combination with an eigenvalue assignment. The outer loop involves a backstepping tracking control of the armature position, where a nonlinear error dynamics is assigned. Given nonlinear friction and other disturbances, a lumped disturbance force is estimated by a dual Kalman filter - in addition to the state variables. This combination achieves a high robustness of the overall control structure. The control performance is investigated in detailed simulations, where also measurement noise and external disturbances are included.

OriginalspracheEnglisch
TitelIECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society : Proceedings
Anzahl der Seiten7
ErscheinungsortPiscataway
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum2024
ISBN (Print)978-1-6654-6455-0
ISBN (elektronisch)978-1-6654-6454-3
DOIs
PublikationsstatusErschienen - 2024
Veranstaltung50th Annual Conference of the IEEE Industrial Electronics Society - IECON 2024 - Chicago, USA / Vereinigte Staaten
Dauer: 03.11.202406.11.2024
Konferenznummer: 50
https://www.iecon-2024.org/

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© 2024 IEEE.

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