SELF-SENSING VIA MODULATION APPROACH FOR STABILIZATION OF MAGNETIC BEARING SYSTEM

A Project Report by Pushpendra Singh Parihar

Submitted to the Faculty of the College of Engineering Wichita State University in Partial Fulfillment of the Requirements for the Degree of Master of Science in Electrical Engineering

December 2006

ABSTRACT Simulations have been developed that demonstrate how the position of the rotor can be determined from the output of the current sensor without the use of a separate position sensor. A non-linear model of a magnetic-bearing has been used in the simulation. The objective was to stabilize the bearing model using only a current sensor.

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TABLE OF CONTENTS Topic I. II. INTRODUCTION MAGNETIC BEARING SYSTEM Active Magnetic Bearing Advantages of magnetic bearing Drawbacks and limitations of magnetic bearing Self-Sensing Magnetic Bearing Non-Linear Model of Magnetic Bearing Linearized Model of Magnetic Bearing III. IV. V. VI. VII. POSITION ESTIMATION USING MODULATION APPROACH FILTERS ESTIMATOR DESIGN STATE FEEDBACK SIMULATION Simulation Model of the self-sensing magnetic bearing system Simulation Parameters Simulation Results VIII. IX. CONCLUSION FUTURE WORK Page 1 2 2 3 3 4 5 7 9 12 13 15 16 16 17 19 21 22 23 24 24 35

REFERENCES APPENDIX Simulink Models Matlab M-file

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LIST OF FIGURES Figure 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. Page

Active Magnetic Bearing System2 Dynamic Model of Magnetic Bearing.5 Non-linear Simulink Model of Magnetic Bearing...7 Block Diagram of Proposed Position Estimator....13 Simulink Model of Self-Sensing Magnetic Bearing with State Feedback........16 Comparison of Estimated and Actual Position of the Rotor..............................19 Comparison of Estimated and Actual Velocity of the Rotor.............................20 Self-Sensing Magnetic Bearing System.............................................................24 High Frequency Source......................................................................................25 Magnetic Bearing...............................................................................................25 Electrical............................................................................................................26 Back EMF..........................................................................................................26 Inductances of Magnetic Bearing......................................................................27 Magnetic Force..................................................................................................27 Mechanical Disturbance....................................................................................28 Position Estimator.............................................................................................28

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LIST OF TABLES Table 1. 2. Page Parameters of Magnetic Bearing used for Simulation.........................................17 LQ Parameter and Controller Feedback Gains....................................................18

LIST OF ABBREVIATIONS N R Ll Lm m g Ae lfe o r u i xo Number of turns in the magnetic coil Resistance of magnetic coil Leakage inductance Inductance of magnetic coil Mass of the rotor Acceleration due to gravity Area of the magnetic core Length of the magnetic core Magnetic field constant of the vacuum Relative magnetic permeability Voltage of the magnetic coil Current in the magnetic coil Position of the rotor from the magnetic bearing

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1. INTRODUCTION Magnetic bearing works on the principle of magnetic levitation. There is no contact between the bearing and the shaft. Consequently, there is no frictional wear, which improves reliability. The bearing uses complex hardware involving many sensors. The complexity of the system can be reduced by decreasing the number of sensors and their associated hardware. But the lack of information about the position of the rotor leads to an unstable system. To stabilize the system, rotor position can be determined from the current. In this report a position estimator has been built using a band pass filter, a signal generator and a low pass filter. The band pass filter selects the current at a particular frequency, and the signal generator, low pass filter, multiplier and divider demodulate the signal giving an estimated value of the rotor position. In our simulations, a state feedback controller has been used to stabilize the system. The nonlinear model of the magnetic bearing has been stabilized using estimated states. The actual and estimated states are plotted for comparison. The work is summarized in the Conclusion. The Future Work section highlights ideas for further investigation.

2. MAGNETIC BEARING SYSTEM Active Magnetic Bearing As shown in Figure 1, essential components of an active magnetic bearing system include electromagnets, sensors, controllers and power amplifiers. The displacement of the rotor from its reference position is measured by a position sensor and the current in the electromagnet is measured by a current sensor. A controller processes these measurements to calculate the control signals necessary to stabilize the system. A power amplifier transforms these control signals in to a control current. This control current generates the magnetic forces within the electromagnet to hold the rotor in its hovering position [9].

Figure 1: Active Magnetic Bearing System. An active magnetic bearing is very useful when using high speed machines, when maintenance is difficult and expensive, and when a low noise environment is needed. Some of the application areas for magnetic bearings are turbo machinery, machine tools, textile machinery, space technology and electric drives, etc.

Advantages of Active Magnetic Bearings The contact free suspension of the active magnetic bearing eliminates the need for lubrication and minimizes wear and tear. It also minimizes the limitation on the speed of the machine, which previously (in conventional bearing), depended upon type of bearing metal, type of lubrication, friction, and wear and tear of the bearing. Therefore, it can be used at very high speeds and provide much quieter performance than a conventional bearing. It has low bearing losses because of reduced mechanical (frictional) losses in the bearing. Because of no wear and tear these bearings require very low maintenance and have longer lives than conventional bearings. Dynamics of the magnetic bearing can be controlled by a controller. Therefore it is easy to control air-gaps, stiffness, and other factors as required in a particular situation [9].

The Limitations and Drawbacks of the Magnetic Bearing Too many sensors and their control hardware make the bearing system more complex and expensive. Research is needed to asses various aspects of magnetic bearing such as reliability, optimal design for particular purposes, uses, and safety [9].

Self-Sensing Magnetic Bearing The complexity of the active magnetic bearing system can be reduced by eliminating the position sensors and the associated hardware. The elimination of position sensors leads to a simple and reliable construction of magnetic bearing with reduced wiring and hardware [2]. This also reduces the manufacturing cost of the bearing. The self-sensing magnetic bearing works on the concept of estimation of the rotor position from information in the bearing coil current. The approach for the self-sensing magnetic bearing can be broadly classified in two categories: (a) state estimation (b) modulation approach The state estimation approach is based on the using a linear state estimator as an observer to estimate the position. One limitation of the state estimation approach is that the system is poorly observable at high frequencies [2]. The modulation approach is based on superimposing a high frequency voltage signal and estimating the position from the bearing coil current, which depends on the change of inductance caused by the rotor displacement [8]. In this approach, the sensing signal is not coupled to the control signal at high frequencies. It has improved system robustness compared to a state estimator [4].

Non-Linear Model of Magnetic Bearing A non-linear model of the magnetic bearing shown in Figure 2 can be described by sets of electrical, mechanical and magnetic equations.

Magnetic Force, F

Gravitational Force, Fg
Figure 2: Dynamic Model of Magnetic Bearing. Electrical System Input voltage = Voltage drop across coil resistance + Induced voltage due to changing magnetic field

u = Ri +

d dt

(1)

Flux linkage, = N = L( x) i Substitution of equation (2) in equation (1) gives,

(2)

u = Ri + L( x)

di L( x) dx +i dt x dt

(3)

Inductance of the system = Inductance of magnetic coil + Leakage Inductance

L( x) = Lm ( x) + Ll = l fe 1 2 N 0 Aa and K 0 = 2 2 r K + Ll K0 + x (4)

where K =

From equation (3) and (4) we can get,

u = Ri + L( x) Magnetic Force di Ki dx 2 dt ( K 0 + x) dt

(5)

Energy stored in an inductor We =

1 L( x) i 2 2

(6)

Electrical power = Magnetic power

dWe dx = ( F ) dt dt

(7)

F =

dWe dx

(8)

On substituting equation (6) in equation (8) 1 dL( x) F = i2 2 dx From equation (4) and (9)
F= Mechanical Equilibrium M d 2x = Fg F dt 2 K i2 2 ( K 0 + x) 2

(9)

(10)

(11)

where Fg = M g

Figure 3 shows the design of magnetic bearing model on simulink using equation (5), equation (10) and equation (11).

Figure 3. Non-linear Simulink Model of Magnetic Bearing

Linearized Model of Magnetic Bearing

Many non-linear physical systems can be approximated as linear system within some range. It can be represented as the set of state variable equations. And the linear controller can be used to control the dynamics of the system. We can linearize the non linear equations (5), (10) and (11) about the equilibrium point. Lets i0 and x0 be the current and position of the rotor at equilibrium. Taylor series has been used for expansion of these equations
Ki0 K i0 F = F0 x + i 3 ( K 0 + x0 ) ( K 0 + x0 ) 2
2

Similarly,

L( x0 )

di di di = ( Lm ( x0 ) + Ll ) = L dt dt dt

Ki0 Ki0 Ki dx dx = = v 2 2 ( K 0 + x) dt ( K 0 + x 0 ) dt ( K 0 + x0 ) 2

Putting these values in equation (5) and (11) gives the governing linearized equations [2][9] for magnetic bearing and can be represented as sets of state equations as shown in equation (12)

R i L Ki d v= dt m x 0
where:

Ki L 0 1

0 1 i K s L v + 0 [u ] m 0 x 0
(12)

Variation in current i = i i0 ; Rotor displacement x = x x0 ; Velocity v = dx ; dt (13)

Constant K i =

( K 0 + x 0 )2
(K 0 + x0 )3
Ki0
2

Ki0

Constant K s =

(14)

The linearized model is used for designing the state feedback controller.

3. POSITION ESTIMATION USING MODULATION APPROACH

In the modulation approach, position estimation is based on measuring the change of air gap inductance due to the rotor displacement using high frequency signals [8]. Lm ( x ) = K K0 + x (13)

Equation (21) shows how the amplitude of high frequency current depends upon bearing inductance and the rotor position can be estimated from that relationship. The amplitude modulation [8] approach has been used to measure this change and to determine the position of the rotor from the current. First, the input is coupled with a high frequency sinusoidal signal, then this signal is extracted from the current, and then position of the rotor is deducted from the amplitude of that signal. Derivation for the position estimation The electrical circuit equation for a magnetic bearing is u = Ri + d dt (14)

where = L( x)i = Lm ( x)i (leakage reactance is assumed to be negligible) Equation (14) can be rewritten as [8]
u l + u h = Ri + d Ki dt K 0 + x

(15)

where u l is the low frequency voltage required to keep the system in equilibrium and u h is the very high frequency sinusoidal voltage used to estimate the position of the rotor. Solving for the current and assuming that the high frequency oscillation of the rotor position is negligibly small, we get

i=

1 (K 0 + x ) [(u l + u h ) Ri]dt K

(16)

If we let i = il + ih where il is the low frequency component and ih is the high frequency ac component of the current, (16) can be rewritten as il + i h = 1 (K 0 + x ) [(u l + u h ) R(il + ih )]dt K (17)

on expanding equation (17), we get il + i h = [ where ih = 1 (K 0 + x ) (u l Ril )dt ] + [ 1 (K 0 + x ) (u h Rih )dt ] K K (18)

1 (K 0 + x ) (u h Rih )dt is separated by using a Band-Pass filter. K 1 (K 0 + x ) Rih dt will leads to a term containing R s K K0 + x multiplied K

The solution of

by a current component. At high frequencies,

R R K0 + x << 1 and it can be = s K s Lm ( x )

neglected. Thus the equation can be reduced to ih = 1 (K 0 + x ) u h dt K (19)

Putting u h = u d sin s t in equation (19) ih = 1 (K 0 + x )u d cos s t K s (20)

On comparing equation (20) with ih = id cos s t id = K K0 + x 1 (K 0 + x )u d = 1 u d K s s Lm ( x ) (21)

where Lm ( x) =

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Therefore, the estimated position is given by

x = K s id K0 ud

(22)

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4. FILTERS

Filters are used for signal processing. They are used to select a particular frequency and/or to remove unwanted lower or higher frequencies. The following kinds of filters have been used to estimate the rotor position. Band-Pass Filter A Band-Pass filter allows only signals having desired frequencies and attenuates all other frequencies. This filter is used to choose a particular signal from the mixed signals of different frequencies. The transfer function is given by 2 s s s + 2 s s + s
2 2

(23)

where, s is the desired frequency and is the damping ratio. Low Pass Filter
A Low-Pass filter allows only frequencies lower than a desired cutoff frequency

and rejects higher frequencies. The cutoff frequency should be lower than the frequencies that need to be rejected. The transfer function is given by

2 s 2 + 2 s + 2

(24)

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5. ESTIMATOR DESIGN

The estimator requires the addition of a high frequency signal on top of the low frequency signal required for control at the input of the magnetic bearing [8].
u = ul + u h

(26)

As u h = u d sin s t , the total input voltage is given by

u = u l + u d sin s t

(27)

uh

Magnetic Bearing

ih +il

Band-Pass Filter

ih

Low-Pass Filter

ul

2 cos( s t )
Signal Generator

id

1/ ud

s
Rotor Position

K0

Figure 4: A Block Diagram of Proposed Position Estimator. The current signal thus produced contains a low frequency component and a high frequency signal, which is given as
i = il + i h

(28)

The high frequency component is than extracted from the coil current using a band-pass filter, which is
i h = i d cos s t = 1 (K 0 + x )u d cos s t K s

(29)

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Equation (30) shows that the rotor position is related to the amplitude of the high frequency current component. To extract the amplitude with its frequency part a demodulator has been used, which consists of a signal generator and a low pass filter. This high frequency signal is then multiplied with a signal 2 cos s t produced by signal generator resulting in the signal id + id cos 2 s t (30)

This signal is then passed through a low pass filter which attenuates id cos 2 s t giving an output id which is equal to
id = 1 (K 0 + x )u d K s

(31)

Thus, the position is given by

x = K s id K0 ud

(32)

A block diagram of proposed position estimator has been shown in Figure 4.

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6. STATE FEEDBACK

In state-feedback control the model is controlled and stabilized by feeding back the states of the system using some gain to obtain the desired output. The state feedback can be represented as
U = K X

(33)

Where X is the state vector, K is the state feedback gain and U is the plant input. Method of designing state feedback controller include (a) Pole placement: The feedback controller is designed by placing the closed loop poles at a desired location. (b) Linear Quadratic (LQ) Control: LQ controller is designed to minimize the cost function (performance index) J given by

J =

t =to

( x T Q x + u T Ru )dt

where Q and R are the respective weights. Matrix R should be positive definite and matrix Q should be positive semi-definite to get the solution [9]. In this simulation, LQ control for state feedback has been used to stabilize the magnetic bearing model. Sensitivity to noise has not been considered in LQ-controller design for magnetic bearing shown above. It assumes ideal measurement of system parameters but the velocity is a noisy signal. Hence system performance can be improved by reducing velocity feedback [9].

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7. SIMULATION

Simulation has been performed on the Simulink model to evaluate the performance of the position estimator. A. Simulink Model of the Self-Sensing Magnetic Bearing System The system model is designed using non-linear model of magnetic bearing, a position estimator and a high frequency source. Velocity has been estimated by passing estimated position signal through a high pass filter. State feedback has been used to stabilize the system.

Figure 5: Simulink Model of Self-Sensing Magnetic Bearing with State Feedback.

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B. Simulation Parameters The parameters of the self-sensing magnetic bearing system used for simulation has been tabulated in Table 1. TABLE 1 THE PARAMETERS OF MAGNETIC BEARING USED FOR SIMULATION Resistance of the coil Mass of the rotor Desired Position (Air-Gap) Constant K 0 = Constant K = l fe 2 r Chosen Chosen Chosen Assumed negligible Chosen Assumed negligible Lm ( x ) = K K0 + x

R = 8 M = 4.6 kg
x0 = 0.7 10 3 m K0 = 0 K = 2.5 10 5 H m Ll = 0 H Lm ( x0 ) = 0.035 H L( x0 ) = 0.035 H i0 = 1.342833 A u 0 = 10.74 V

1 2 N 0 Aa 2

Leakage Inductance Bearing Inductance Total Inductance Current at equilibrium Voltage at equilibrium Frequency of high frequency source Band Pass filter used in estimator Low Pass filter High Pass filter

L( x) = Lm ( x) + Ll
i0 = ( K 0 + x 0 ) M g K

u 0 = R i0 Chosen 2 s s s 2 + 2 s s + s
2 2

s = 10000 rad / s
20000 s + 20000s + 100000000 1000 s + 707 s + 1000000
2

2 s 2 + 2 s + 2 s s +

1000s s + 1000

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An LQ controller has been designed using the linearized model of the magnetic bearing and then implemented on the non-linear model in order to stabilize the system. The transfer function used for control design has been calculated by (12) and the parameters values are taken from Table 1. The control design is summarized in Table 2. TABLE 2 LQ PARAMETERS AND CONTROLLER FEEDBACK GAINS
R L K i M 0 Ki L 0 1 0 0 229 1918 Ks 15 = 0 28000 M 0 1 0 0

1 28.5714 L B = 0 = 0 0 0
C =

[0

0 1]

D = 0 Matrix R = [1]
1 0 0 Matrix Q = 0 1 0 0 0 1

Current feedback gain K i Velocity feedback gain K v Displacement feedback K p

= 9 = 100 *

= 40000

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*The actual velocity feedback gain calculated by LQ controller is -232. It is reduced to -100 to improve the performance of the controller (please refer page 15, State Feedback Control). C. Simulation Results A comparison has been plotted (figure 3) between the actual rotor position and estimated rotor position to verify the performance of the system. The plot shows the system is stable even after using estimators output for feedback and the estimated value of rotor position and velocity matches very closely to the actual.

Figure 6. Plot of the Rotor Position Comparing Actual Position and the Estimated Position. 19

The actual velocity and the estimated velocity have been plotted in figure 7.

Figure 7: Plot of the Rotor velocity Comparing Actual and Estimated velocity

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8. CONCLUSION

The simulation result shows that the estimated position has a reasonable match with the actual position of the rotor and the system has been stabilized using position information from the estimator.

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9. FUTURE WORK

There is a need to develop a relationship between the model parameters and the magnitude of the high frequency source necessary for optimum performance.

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REFERENCES

[1] [2]. [3] [4] [5]

Dorf, Richard C. and Robert H. Bishop, Modern Control Systems, 9th edition Prentice Hall, Upper Saddle River, NJ, ISBN 0-13-030660-6. Kucera, L. Robustness of Self-Sensing Magnetic Bearing, Magnetic Bearing Industrial Conference, Alexandria, USA, 1997. Mizuno, T., T. Ishii and K. Araki, Self-Sensing Magnetic Suspension Using Hysteresis Amplifiers, Control Engineering Practice 6 (1998) 1133-1140. Montie, D.T., Performance Limitations and Self-Sensing Magnetic Bearings, Ph.D. Dissertation , Univ. Virginia, Charlottesville, VA, 2003. Morse, N., R. Smith, B. Paden and J. Antaki, Position Sensed and Self-Sensing Magnetic Bearing Configurations and Associated Robustness Limitation, 37th IEEE Conference on Decision & Control, Tampa, Florida USA, December 1998. Piper, George E., Owen G. Thorp III and John M. Watkins, Active Control of Axial-flow Fan Noise Using Magnetic Bearing, Journal of Vibration and Control, 11:000-000, 2005. Schammass, A. and H. Bleuler, Experimental Results on Self sensing AMB Using a Three State PWM Amplifier, 8th International Symposium on Magnetic Bearing, Mito, Japan, August 26-28, 2002. Schammass, A., R. Herzog, P Buhler and H. Bleuler, New Results for SelfSensing Active Magnetic Bearing Using Modulation Approach, IEEE Transaction on Control System Technology, Vol. 13, No.4, July 2005. Schweitzer, G., H. Bleuler and A. Traxlar, Active Magnetic Bearings, Basic, Properties and Application of Active Magnetic Bearings, vdf Hochschulverlag AG an der ETH Zurich, ISBN 3728121320 Yoshida, T., Y. Kuroba, K. Ohniwa and O. Miyashita, Self-Sensing Active Magnetic Bearing Using a New PWM Amplifier Equipped with a Bias Voltage Source, EPE Journal, Vol.15, No.2, May 2005. Zhuravlyov, Yuri N., On LQ-Control of Magnetic Bearing, IEEE Transaction on Control System and Technology, Vol. 8, No.2, March 2000.

[6]

[7]

[8]

[9]

[10]

[11]

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APPENDIX Simulink Models

As shown in Figure 8, the magnetic bearing model uses subsystems for the magnetic bearing model and the position estimator. Figure 8 shows that the complete system consists of inputs, magnetic bearing subsystem, position estimator subsystem, feedback gains and scopes. Each subsystem is discussed in the subsequent pages.

Figure 8: Self-sensing Active Magnetic Bearing System

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Figure 9 show high frequency source subsystem. It has a sinusoidal block to generate the sine function and a step input block to control the amplitude. This subsystem has two outputs, one u d sin s t which acts as a high frequency source and other amplitude only, to use in the position estimator.

Figure 9: High Frequency Source.

The subsystem for the magnetic bearing is shown in Figure 10. It has electrical, magnetic force, and mechanical subsystems.

Figure 10: Magnetic Bearing

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Figure 11 discuss the electrical subsystem and its blocks. The equation represented by electrical subsystem can be written as i= 1 di (e Ri + K b .v)dt Or e = Ri + L( x) dt K b v L( x)

Figure 11: Electrical

Figure 12 displays the equation for the back e.m.f. K b =

Ki ( K 0 + x) 2

Figure 12: Kb Back emf

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The complete simulink model for magnetic bearing system inductance has been K + Ll . shown in Figure 13. The model represents the equation, L( x) = Lm ( x) + Ll = K0 + x

Figure 13: L(x) Inductance of the magnetic bearing

Figure 14 shows the simulink model for the magnetic force generated by the electromagnets. The model is designed from the magnetic force equation given as F= K i2 . 2 ( K 0 + x) 2

Figure 14: Magnetic Force

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Figure 15 represent the subsystem for the mechanical dynamics, M d x = Mg F . dt 2

2

Figure 15: Mechanical Subsystem

The position estimator is shown in Figure 16. It has a band-pass filter, a signal generator, a low pass filter and other blocks. It has two inputs, current and voltage amplitude of high frequency source, and one output, rotor position.

Figure 16: Position Estimator

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M-File R=8; % ohms s=tf('s') L1=0; % H L2=0.035; ko=0; % m k=2.45e-5; % H m M=4.6; % kg g=9.8; % m/s^2 xo=7e-4 % m initial condition io=1.342833 %A eo=R*io %V L=L1+L2 ki=((k*io)/xo^2) ks=((k*io^2)/xo^3) A=[-R/L ki/L 0; -ki/M 0 ks/M; 0 1 0] B=[1/L; 0; 0] C=[0 0 1]; D=0; G=ss(A,B,C,D) [K,S,e] = lqr(G,[1 0 0;0 1 0;0 0 1],1) Gk=ss(A,B,K,D) margin(Gk)

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