0
Research Papers: Gas Turbines: Structures and Dynamics

Active Vibration Control of the Flexible Rotor in High Energy Density Magnetically Suspended Motor With Mode Separation Method

[+] Author and Article Information
Enqiong Tang

Science and Technology on Inertial Laboratory,
Beihang University,
Shining Building 403,
Xueyuan Road,
Beijing 100191, China
e-mail: tang.forever@163.com

Jiancheng Fang

Professor
Science and Technology on Inertial Laboratory,
Beihang University,
Shining Building 403, Xueyuan Road,
Beijing 100191, China
e-mail: Fangjiancheng@buaa.edu.cn

Bangcheng Han

Science and Technology on Inertial Laboratory,
Beihang University,
Shining Building 403,
Xueyuan Road,
Beijing 100191, China
e-mail: hanbangcheng@buaa.edu.cn

1Corresponding author.

Contributed by the Structures and Dynamics Committee of ASME for publication in the JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER. Manuscript received October 10, 2014; final manuscript received December 4, 2014; published online January 28, 2015. Editor: David Wisler.

J. Eng. Gas Turbines Power 137(8), 082503 (Aug 01, 2015) (10 pages) Paper No: GTP-14-1573; doi: 10.1115/1.4029372 History: Received October 10, 2014; Revised December 04, 2014; Online January 28, 2015

Since the mass of the rotor in high energy density magnetically suspended motor (HEDMSM) is always large and there are only three balancing planes on the flexible rotor restricted by the structure of the motor, which means that the second bending mode cannot be balanced using N + 1 planes method which is always applied to balance the flexible rotor. Then, the rotor displacements maybe large and this situation will make the system consume large amplifier currents when the rotor passes the first bending critical speed. Therefore, the mode separation method is proposed to separate the first and the second bending modes in rotor displacement and reconstruct the displacement signal nearby the first bending mode. Then, the original rotor displacement signal used by the digital controller is substituted by the reconstructed displacement signal and the amplifier current is reduced a lot when the rotor passes the first bending critical speed. Finally, the experiment of mode separation is carried out in 100 kW magnetically suspended motor and the experiment results show the effectiveness and superiority of the mode separation method in reducing the amplifier current when the rotor passes the first bending critical speed.

Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.

References

Schweitzer, G., and Maslen, E. H., 2009, Magnetic Bearings: Theory, Design, and Application to Rotating Machinery, Springer-Verlag, Berlin.
Park, Y., 2014, “Design and Implementation of an Electromagnetic Levitation System for Active Magnetic Bearing Wheels,” IET Control Theory Appl., 8(2), pp. 139–148. [CrossRef]
Ren, Y., Su, D., and Fang, J., 2013, “Whirling Modes Stability Criterion for a Magnetically Suspended Flywheel Rotor With Significant Gyroscopic Effects and Bending Modes,” IEEE Trans. Power Electron., 28(12), pp. 5890–5901. [CrossRef]
Fang, J., Zhou, X., and Liu, G., 2013, “Precise Accelerated Torque Control for Small Inductance Brushless DC Motor,” IEEE Trans. Power Electron., 28(3), pp. 1400–1412. [CrossRef]
Zheng, S., and Han, B., 2013, “Investigations of an Integrated Angular Velocity Measurement and Attitude Control System for Spacecraft Using Magnetically Suspended Double-Gimbal CMGs,” Adv. Space Res., 51(12), pp. 2216–2228. [CrossRef]
Zheng, Han, B., and Guo, L., 2014, “Composite Hierarchical Antidisturbance Control for Magnetic Bearing System Subject to Multiple External Disturbances,” IEEE Trans. Ind. Electron., 61(12), pp. 7004–7012. [CrossRef]
Abrahamsson, J., Hedlund, M., Kamf, T., and Bernhoff, H., 2014, “High-Speed Kinetic Energy Buffer: Optimization of Composite Shell and Magnetic Bearings,” IEEE Trans. Ind. Electron., 61(6), pp. 3012–3021. [CrossRef]
Fan, Y., Jiang, Y., Chen, R.-J., Lee, Y.-T., and Wu, T.-W., 2008, “Adaptive Variable Structure Controller Design of Turbomolecular Pump With Active Magnetic Bearings,” 3rd IEEE Conference on Industrial Electronics and Applications (ICIEA 2008), Singapore, June 3–5, pp. 1060–1065. [CrossRef]
Wang, D., Wang, F., and Bai, H., 2009, “Design and Performance of QFT-H Infinity Controller for Magnetic Bearing of High-Speed Motors,” 4th IEEE Conference on Industrial Electronics and Applications (ICIEA 2009), Xi'an, China, May 25–27, pp. 2624–2629. [CrossRef]
Yang, S.-M., 2011, “Electromagnetic Actuator Implementation and Control for Resonance Vibration Reduction in Miniature Magnetically Levitated Rotating Machines,” IEEE Trans. Ind. Electron., 58(2), pp. 611–617. [CrossRef]
Arredondo, I., Jugo, J., and Etxebarria, V., 2008, “Modeling and Control of a Flexible Rotor System With AMB-Based Sustentation,” ISA Trans., 47(1), pp. 101–112. [CrossRef] [PubMed]
Park, S. H., and Lee, C. W., 2010, “Design and Control of Hybrid-Type Three-Pole Active Magnetic Bearings Using Redundant Coordinates,” J. Vib. Control, 16(4), pp. 601–614. [CrossRef]
Wai, R. J., Lee, J. D., and Chuang, K. L., 2011, “Real-Time PID Control Strategy for Maglev Transportation System Via Particle Swarm Optimization,” IEEE Trans. Ind. Electron., 58(2), pp. 629–646. [CrossRef]
Ren, Y., and Fang, J., 2014, “High-Precision and Strong-Robustness Control for an MSCMG Based on Modal Separation and Rotation Motion Decoupling Strategy,” IEEE Trans. Ind. Electron., 61(3), pp. 1539–1551. [CrossRef]
Fang, J., and Ren, Y., 2012, “Decoupling Control of Magnetically Suspended Rotor System in Control Moment Gyros Based on an Inverse System Method,” IEEE/ASME Trans. Mechatron., 17(6), pp. 1133–1144. [CrossRef]
Fang, J., and Ren, Y., 2012, “Self-Adaptive Phase-Lead Compensation Based on Unsymmetrical Current Sampling Resistance Network for Magnetic Bearing Switching Power Amplifiers,” IEEE Trans. Ind. Electron., 59(2), pp. 1218–1227. [CrossRef]
Yubisui, Y., Kobayashi, S., Amano, R., and Sugiura, T., 2011, “Effects of Nonlinearity of Magnetic Force on Passing Through a Critical Speed of a Rotor With a Superconducting Bearing,” IEEE Trans. Ind. Electron., 58(2), pp. 629–646. [CrossRef]
Ito, M., Fujiwara, H., and Matsushita, O., 2010, “Q-Value Evaluation and Rotational Test of Flexible Rotor Supported by AMBs,” J. Syst. Des. Dyn., 4(5), pp. 725–737 [CrossRef].
Lei, S., and Palazzolo, A., 2008, “Control of Flexible Rotor Systems With Active Magnetic Bearings,” ASME J. Sound Vib., 314(1–2), pp. 19–38. [CrossRef]
Yu, H.-C., Lin, Y.-H., and Chu, C.-L., 2007, “Robust Modal Vibration Suppression of a Flexible Rotor,” Mech. Syst. Sig. Process., 21(1), pp. 334–347. [CrossRef]
Sahinkaya, M. N., Abulrub, N. A. G., and Burrows, C. R., 2011, “An Adaptive Multi-Objective Controller for Flexible Rotor and Magnetic Bearing Systems,” ASME J. Dyn. Syst. Meas. Control, 133(3), p. 031003. [CrossRef]
Mushi, S. E., Lin, Z., and Allaire, P. E., 2012, “Design, Construction, and Modeling of a Flexible Rotor Active Magnetic Bearing Test Rig,” IEEE Trans. Mechatron., 17(6), pp. 1170–1182. [CrossRef]
Jang, M. J., Chen, C. L., and Tsao, Y. M., 2005, “Sliding Mode Control for Active Magnetic Bearing System With Flexible Rotor,” ASME J. Franklin Inst., 342(4), pp. 401–419. [CrossRef]
Garofalo, F., Marino, P., and Scala, S., 1996, “Control of DC-DC Converters With Linear Optimal Feedback and Nonlinear Feedforward,” IEEE Trans. Power Electron., 9(6), pp. 607–615. [CrossRef]
Priewasser, R., Agostinelli, M., and Unterrieder, C., 2014, “Modeling, Control, and Implementation of DC–DC Converters for Variable Frequency Operation,” IEEE Trans. Power Electron., 29(1), pp. 287–301. [CrossRef]
Roes, M. G. L., Duarte, J. L., and Hendrix, M. A. M., 2011, “Disturbance Observer-Based Control of a Dual-Output LLC Converter for Solid-State Lighting Applications,” IEEE Trans. Power Electron., 29(1), pp. 2018–2027. [CrossRef]
Habibullah, H., Pota, H., Petersen, I., and Rana, M. S., 2014, “Tracking of Triangular Reference Signals Using LQG Controllers for Lateral Positioning of an AFM Scanner Stage,” IEEE/ASME Trans. Mechatron., 19(4), pp. 1105–1114. [CrossRef]
Camblong, H., Nourdine, S., Vechiu, I., and Tapia, G., 2012, “Comparison of an Island Wind Turbine Collective and Individual Pitch LQG Controllers Designed to Alleviate Fatigue Loads,” IET Renew. Power Gener., 6(4), pp. 267–275. [CrossRef]
Barut, M., Bogosyan, S., and Gokasan, M., 2007, “Speed-Sensorless Estimation for Induction Motors Using Extended Kalman Filters,” IEEE Trans. Ind. Electron., 54(1), pp. 272–280. [CrossRef]
Kim, O.-S., Lee, S.-H., and Han, D.-C., 2003, “Positioning Performance and Straightness Error Compensation of the Magnetic Levitation Stage Supported by the Linear Magnetic Bearing,” IEEE Trans. Ind. Electron., 50(2), pp. 374–378. [CrossRef]
Darbandi, S. M., Behzad, M., Salarieh, H., and Mehdigholi, H., 2014, “Linear Output Feedback Control of a Three-Pole Magnetic Bearing,” IEEE Trans. Mechatron., 19(4), pp. 1323–1330. [CrossRef]
Schuhmann, T., Hofmann, W., and Werner, R., 2012, “Improving Operational Performance of Active Magnetic Bearings Using Kalman Filter and State Feedback Control,” IEEE Trans. Ind. Electron., 59(2), pp. 821–829. [CrossRef]
Kang, Y., Lin, T., and Chang, Y., 2008, “Optimal Balancing of Flexible Rotors by Minimizing the Condition Number of Influence Coefficients,” Mech. Mach. Theory, 43(7), pp. 891–908. [CrossRef]
EI-Shafei, A., EI-Kabbany, A. S., and Younan, A. A., 2004, “Rotor Balancing Without Trial Weights,” ASME J. Eng. Gas Turbines Power, 126(3), pp. 604–609. [CrossRef]
Saldarriaga, M. V., Steffen, V. J., and Hagopian, J. D., 2011, “On the Balancing of Flexible Rotating Machines by Using an Inverse Problem Approach,” J. Vib. Control, 17(7), pp. 1021–1033. [CrossRef]
Zhu, L., and Knospe, C., 2010, “Modeling of Nonlaminated Electromagnetic Suspension Systems,” IEEE/ASME Trans. Mechatron., 15(1), pp. 59–69. [CrossRef]
Arredondo, I., Jugo, J., and Etxebarria, V., 2008, “Modeling and Control of a Flexible Rotor System With AMB-Based Sustentation,” ASME ISA Trans., 47(4), pp. 101–112. [CrossRef]
Li, G., Lin, Z., Allaire, P. E., and Luo, J., 2006, “Modeling of a High Speed Rotor Test Rig With Active Magnetic Bearings,” ASME J. Vib. Acoust., 128(3), pp. 269–281. [CrossRef]
Li, G., 2007, “Robust Stabilization of Rotor-Active Magnetic Bearing Systems,” Ph.D. dissertation, University of Virginia, Charlottesville, VA.
Herzog, R., Buhler, P., Gahler, C., and Larsonneur, R., 1996, “Unbalance Compensation Using Generalized Filters in the Multivariable Feedback of Magnetic Bearings,” IEEE Trans. Control Syst. Technol., 4(5), pp. 580–586. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

The sketch map of the magnetically suspended motor

Grahic Jump Location
Fig. 2

The rotor displacements with run-up test before and after balancing of the second bending mode

Grahic Jump Location
Fig. 3

The saturation characteristics of the amplifier current

Grahic Jump Location
Fig. 4

The rotor finite element model with n segments

Grahic Jump Location
Fig. 5

The first three bending mode shape of the flexible rotor

Grahic Jump Location
Fig. 6

The block diagram of the rotor-MB system

Grahic Jump Location
Fig. 7

Schematic diagram of switching power amplifier

Grahic Jump Location
Fig. 8

Bode plots of power amplifier from amplifier reference input to AMB amplifier current output

Grahic Jump Location
Fig. 9

The first two bending mode shape of the flexible rotor

Grahic Jump Location
Fig. 10

The sketch map of the mode separation method

Grahic Jump Location
Fig. 11

The complete control system with mode separation method

Grahic Jump Location
Fig. 12

The experimental system of the magnetically suspended motor. (1) Magnetically suspended motor, (2) rotor, (3) power supply 48 V, (4) power supply 90 V, (5) control system and power amplifier, (6) oscilloscope, and (7) UPS.

Grahic Jump Location
Fig. 13

The experiment of mode separation method at Ω = 192 Hz (ε = 50). (a) Original displacement signal hax and rotation speed synchronous signals Sax. (b) Original displacement signal hbx and rotation speed synchronous signals Sbx. (c) First bending mode displacements Sax1 and Sbx1 extracted from original displacement signal. (d) Second bending mode displacements Sax1 and Sbx1 extracted from original displacement signal.

Grahic Jump Location
Fig. 14

The rotor displacements amplitude in run-up experiment. (a) The displacements amplitude of ax direction of the rotor and (b) the displacements amplitude of bx direction of the rotor.

Grahic Jump Location
Fig. 15

The amplifier current amplitude in run-up experiment. (a) The current amplitude of ax direction of the rotor and (b) the current amplitude of bx direction of the rotor.

Grahic Jump Location
Fig. 16

The rotor displacements and amplifier currents in run-up experiment before and after using mode separation method

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In