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TECHNICAL PAPERS

Modeling of a High Speed Rotor Test Rig With Active Magnetic Bearings

[+] Author and Article Information
Guoxin Li

Department of Mechanical and Aerospace Engineering, University of Virginia, P.O. Box 400746, Charlottesville, VA 22904-4746gl2n@virginia.edu

Zongli Lin1

Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia , P.O. Box 400743, Charlottesville, VA 22904-4743zl5y@virginia.edu

Paul E. Allaire

Department of Mechanical and Aerospace Engineering, University of Virginia, P.O. Box 400746, Charlottesville, VA 22904-4746pea@virginia.edu

Jihao Luo

Maxtor Corporationjihao̱luo@maxtor.com

1

Corresponding author.

J. Vib. Acoust 128(3), 269-281 (Dec 02, 2005) (13 pages) doi:10.1115/1.2172254 History: Received May 26, 2003; Revised December 02, 2005

This paper reports on the modeling and experimental identification of a high speed rotor-magnetic bearing test rig. An accurate nominal model and an uncertainty representation are developed for robust controller synthesis and analysis. A combination of analytical modeling, model updating, and identification is employed for each system component and for the system as a whole. This approach takes advantage of both the behavior modeling and input/output modeling methods. Analytical models of the rotor and the magnetic bearings are first developed from physical laws and refined by comparison with the experimental data. The substructure model is directly identified from the experimental data by a structured identification approach. Models of the electronic systems, such as the filters, amplifiers, sensors, and digital controller, are developed through experimental identification. These component models are then assembled to obtain the overall system model. Closed-loop tests are conducted to identify parameters in the model. Advanced control techniques based on H control and μ synthesis are developed and successfully implemented on the test rig, which further validates the model.

Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

The flow chart of the rotor-ABM system modeling procedure

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Figure 2

The schematic plot of the control test rig

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Figure 4

The substructure frame

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Figure 5

The block diagram of the test rig

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Figure 6

Frequency response comparison of the rotor

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Figure 7

Mode shapes of the free-free rotor

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Figure 8

Identification of magnetic bearing properties: kx and ki

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Figure 9

Substructure identification comparison

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Figure 10

The magnitude comparison of the substructure model

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Figure 11

The phase comparison of the substructure model

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Figure 12

Antialias filter model

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Figure 13

Amplifier dynamics

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Figure 14

Discretization of a PID controller

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Figure 15

Wire controller time delay

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Figure 16

Frequency response comparison for the nominal overall system model

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Figure 17

Uncertainty representation

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Figure 18

Comparison of closed-loop test data with the model

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Figure 19

Natural frequency split due to the gyroscopic effects

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