M. Hutterer, M. Hofer, M. Schrödl:
"Decoupled Control of an Active Magnetic Bearing System for a High Gyroscopic Rotor";
Talk: IEEE International Conference on Mechatronics (ICM), Nagoya, Japan (invited); 03-06-2015 - 03-08-2015; in: "IEEE International Conference on Mechatronics (ICM)", (2015), 22 - 29.

Control design for coupled MIMO-Systems (Multiple
Input and Multiple Output) like a 5-DOF (degree of freedom)
AMB (active magnetic bearing) system needs a high knowledge in
control theory. This paper describes a model based approach for
decoupled control design. To decouple the system an input and an
output transformation is used and all control parts are developed
in the so called center of gravity (COG) coordinate system. One of
the main problems is the stabilization of the rotor for a high speed
range. This problem is solved by a parameter variant feedback
path, which transforms the linear parameter variant system in a
linear parameter invariant system. This feedback path requires
the angular velocity and the velocities of the degrees of freedom
for calculation. The angular velocity can be used from the motor
controller. For the other velocities a Kalman observer is used.
This Kalman observer is developed only in the center of gravity
coordinates, because in this coordinate system the observer needs
less computing power. The stability and robustness of the closed
loop system is verified by simulations and experimental results.

AMB System, Gyroscopic effect, Model based control, Flexible rotor.

http://dx.doi.org/10.1109/2015.7083976

http://publik.tuwien.ac.at/files/PubDat_238964.pdf