Disturbance observer based magnetically suspended reaction attitude flywheel motor control

As the existence of mass unbalance of magnetically suspended flywheel rotor, the precision of output torque/speed of flywheel would be influenced. In order to estimate the unbalance vibration, a nonlinear disturbance observer for time-variation harmonic disturbance was proposed. The dynamic response and steady-stage error regulating characteristics can be adjusted according to systematic requirement. A variable structure controller based on nonlinear disturbance observer was designed for speed control and vibration compensation. By improving the sliding mode function and sign function the chattering can be suppressed. The validity of the control method has been proved by simulation and experiment. The proposed controller is superior in the dynamic response performance, steady-stage error regulating characteristics and disturbance attenuation ability.