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On the Stability Analysis of Active Magnetic Bearing With Parametric Uncertainty and Position Tracking Control

[+] Author Affiliations
Junya Kato, Kentaro Takagi, Tsuyoshi Inoue

Nagoya University, Nagoya, Japan

Paper No. IMECE2016-66603, pp. V04AT05A004; 10 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4A: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5054-1
  • Copyright © 2016 by ASME


This paper considers effect of the parametric uncertainty of an active magnetic bearing which is used to control a rigid rotor. In the feedback control law, PD control and feedback linearization is used. Firstly, this paper shows that one of the two uncertain parameters in the electromagnet model significantly affects the stability of the system. Moreover, this paper analytically shows a method to select the nominal value of the critical parameter affecting the stability. Next, while the shaft is rotating, this paper considers reducing vibration due to rotating unbalance by inversion-based disturbance observer and controlling position by feedforward control, besides PD control and feedback linearization. Based on the linearized model, this paper shows the performance degradation caused by the parametric error and investigates the tracking error experimentally. Finally, in order to improve the tracking performance under the existence of the uncertain parameters, this paper proposes to employ an inversion-based feedforward controller designed from the augmented control object, which includes the controlled object (rigid rotor and magnetic bearing), the disturbance observer and the feedback linearization. The experiment of tracking control of the rotor position is carried out to demonstrate the effectiveness of the proposed method.

Copyright © 2016 by ASME



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