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Abstract: Although standard iterative learning control (ILC) approaches can achieve perfect tracking for active magnetic bearing (AMB) systems under external disturbances, the disturbances are required to be iteration-invariant. In contrast to existing approaches, we address the tracking control problem of AMB systems under iteration-variant disturbances that are in different channels from the control inputs. A disturbance observer based ILC scheme is proposed that consists of a universal extended state observer (ESO) and a classical ILC law. Using only output feedback, the proposed control approach estimates and attenuates the disturbances in every iteration. The convergence of the closed-loop system is guaranteed by analyzing the contraction behavior of the tracking error. Simulation and comparison studies demonstrate the superior tracking performance of the proposed control approach.

针对主动磁悬浮轴承干扰抑制的一类结合迭代学习控制与干扰观测器的解决方法

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