Gain-scheduled control of an electrostatic levitator
| Autor: | Heinz Unbehauen, G. Lohoefer, D. M. Herlach, Herbert Werner, T. Meister |
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| Rok vydání: | 2003 |
| Předmět: |
Engineering
Local linear business.industry Applied Mathematics Unterkühlung von Materialien Control engineering Local linear models Computer Science Applications Scheduling (computing) Nonlinear system Extended Kalman filter Gain scheduling Control and Systems Engineering Control theory Electrostatic levitation Electrical and Electronic Engineering business Position control |
| Zdroj: | Control Engineering Practice. 11:117-128 |
| ISSN: | 0967-0661 |
| DOI: | 10.1016/s0967-0661(02)00102-8 |
| Popis: | A simple gain-scheduling approach to the position control of electrostatically levitated materials is presented. An electrostatic levitator is currently being constructed at the German Aerospace Center (DLR). It can be used for containerless processing of metals and nonconducting materials. Time-varying sample charges and the fact that the plant is open-loop unstable make this a difficult and challenging control problem. The nonlinear parameter-dependent system is approximated by two local linear models. Based on these models, two local linear controllers are designed. LMI-based pole region assignment is used to reduce the design procedure to the tuning of three parameters with intuitive meaning. The sample charge is estimated with a discrete-time extended Kalman filter and used as scheduling parameter. Experimental results demonstrate that gain-scheduled control achieves a significantly better performance than fixed-gain, observer-based state feedback control. |
| Databáze: | OpenAIRE |
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