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SCIENCE CHINA Information Sciences, Volume 61, Issue 11: 112204(2018) https://doi.org/10.1007/s11432-017-9327-0

Characteristic model based all-coefficient adaptive control of an AMB suspended energy storage flywheel test rig

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  • ReceivedNov 9, 2017
  • AcceptedJan 2, 2018
  • PublishedOct 10, 2018

Abstract

Feedback control of active magnetic bearing (AMB) suspended energy storage flywheel systems is critical in the operation of the systems and has been well studied. Both the classical proportional-integral-derivative (PID) control design method and modern control theory, such as $H_{\infty}$ control and $\mu$-synthesis, have been explored. PID control is easy to implement but is not effective in handling complex rotordynamics. Modern control design methods usually require a plant model and an accurate characterization of the uncertainties. In each case, few experimental validation results on the closed-loop performance are available because of the costs and the technical challenges associated with the construction of experimental test rigs. In this paper, we apply the characteristic model based all-coefficient adaptive control (ACAC) design method for the stabilization of an AMB suspended flywheel test rig we recently constructed. Both simulation and experimental results demonstrate strong closed-loop performance in spite of the simplicity of the control design and implementation.


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  • Figure 1

    (Color online) A schematic of the AMB suspended flywheel test rig.

  • Figure 2

    (Color online) A photograph of the ROMAC flexible rotor-AMB test rig.

  • Figure 3

    (Color online) Emulated gyroscopic forces generated by the exciter AMBs at the mid span ((a) F_Midx and (b) F_Midy) and at the quarter span ((c) F_Quax and (d) F_Quay) at $\Omega=7600$ r/min.

  • Figure 4

    (Color online) Actual forces caused by the gyroscopic matrix $G$ at the non-driven end ((a) FG_dnx and (b) F_dny) and at the driven end support AMB ((a) FG_ddx and (b) FG_ddy) at $\Omega=7600$ r/min.

  • Figure 5

    (Color online) Rotor orbits under different additional gyroscopic forces of different scales of $G$ ($\Omega=7600$ r/min). (a) dnx-dny; (b) dmx-dmy; (c) dqx-dqy; (d) ddx-ddy.

  • Figure 6

    (Color online) Rotor orbits under excitation forces of different magnitudes ($\Omega=7600$ r/min). (a) dnx-dny; (b) dmx-dmy; (c) dqx-dqy; (d) ddx-ddy.

  • Figure 7

    (Color online) Experimental results with $J_{\text{p}}=0.021$ kg$\cdot$m$^2$ and $\Omega=7600$ r/min: sensor measurements at the locations of the support AMBs. (a) dnx, dny; (b) ddx, ddy.

  • Figure 8

    (Color online) Experimental results with $J_{\text{p}}=0.021$ kg$\cdot$m$^2$ and $\Omega=7600$ r/min: sensor measurements at the locations of the exciter AMBs. (a) dmx, dmy; (b) dqx, dqy.

  • Figure 9

    (Color online) Experimental rotor orbits in the absence of excitation forces when $\Omega=7600$ r/min. (a) dnx-dny; (b) dmx-dmy; (c) dqx-dqy; (d) ddx-ddy.

  • Figure 10

    (Color online) Experimental rotor orbits in the presence of excitation forces when $J_{\text{p}}=0.021$ kg$\cdot$m$^2$ and $\Omega=7600$ r/min. (a) dnx-dny; (b) dmx-dmy; (c) dqx-dqy; (d) ddx-ddy.

  • Figure 11

    A diagram of the characteristic model based ACAC system.

  • Figure 12

    (Color online) Simulation results with the characteristic model based ACAC law when $\Omega=7600$ r/min: sensor measurements at the locations of the two support AMBs. (a) dnx, dny; (b) ddx, ddy.

  • Figure 13

    (Color online) Simulation results with the characteristic model based ACAC law when $\Omega=7600$ r/min: sensor measurements at the locations of the two exciter AMBs. (a) dmx, dmy; (b) dqx, dqy.

  • Figure 14

    (Color online) Simulation results of the orbits at $\Omega=7600$ r/min: characteristic model based ACAC vs. $\mu$-synthesis controller. (a) dnx-dny; (b) dmx-dmy; (c) dqx-dqy; (d) ddx-ddy.

  • Figure 15

    (Color online) Experimental results with the characteristic model based ACAC law when $\Omega=7600$ r/min: sensor measurements at the locations of the two support AMBs. (a) dnx, dny; (b) ddx, ddy.

  • Figure 16

    (Color online) Experimental results with the characteristic model based ACAC law when $\Omega=7600$ r/min: sensor measurements at the locations of the two exciter AMBs. (a) dmx, dmy; (b) dqx, dqy.

  • Figure 17

    (Color online) Experimental rotor orbits at $\Omega=7600$ r/min: characteristic model based ACAC vs. $\mu$-synthesis controller. (a) dnx-dny; (b) dmx-dmy; (c) dqx-dqy; (d) ddx-ddy.

  •   
    Property Mid span/quarter span Unit
    Current gain, $K_{\text{i}1}$/$K_{\text{i}2}$ 94/91 N/A
    Negative stiffness, $K_{\text{x}1}$/$K_{\text{x}2}$ 165/186 kN/m
    Distance between mid and quarter span AMBs, $L$ 0.31115 m

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