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h
y
XI
p
_
h
x
dm
p
rX
2
cosXt h aF
x1
bF
1
F
3
;
M
x
I
h
x
XI
p
_
h
y
dm
p
rX
2
sinXt h aF
y1
bF
2
F
4
;
6
where m is the mass of the rotating shaft; m
p
is the mass unbalance
at the rotating disk; h is the initial angle of the unbalanced mass
measured from the X axis; X is the speed of rotation around the
spinning Z axis; x, y, h
x
, and h
y
are the radial and rotating displace-
ments of the mass center, respectively; I and I
p
are the transverse
and polar mass moments of inertia of the rotor; F
x1
and F
y1
are
the coupling forces; x
1
and y
1
are the shaft displacements corre-
sponding to the X and Y axes at the exible coupling; and x
2
and
y
2
are the shaft displacements at the magnetic bearing.
According to Tadeoand Cavalca (2003) and neglecting the effect
of rotation, the exible coupling forces corresponding to the X and
Y axes can be expressed as follows:
F
x1
c
T
_ x
1
k
T
x
1
;
F
y1
c
T
_ y
1
k
T
y
1
;
7
where c
T
is the equivalent damping; and k
T
is the equivalent stiff-
ness of the coupling.
The magnetic forces provided by the EMB are functions of the
width of the magnetic gap and the current driving the electromag-
nets (Hsiao, Fan, Chieng, & Lee, 1996). Thus, the four magnetic
forces can be written as a function of the driving currents and vari-
ations in the magnetic gap,
F
n
f
0
k
i
i
n
k
d
d
n
f i
n
; d
n
; n 1; 2; . . . ; 4; 8
where f
0
is the static magnetic force when the driving current is
i
n
= 0 and the magnetic gap variation is d
n
= 0; k
d
and k
i
are the
forcedisplacement stiffness factor and the forcecurrent stiffness
factor; and f(i
n
,d
n
) is a high-order term for the magnetic forces
due to the coil currents and magnetic gap variations.
Let the four electromagnets have the same static magnetic force
f
0
and the same coefcients k
a
and k
i
; the four magnetic forces F
1
F
4
can now be rewritten as
F
1
F
3
k
i
i
1
k
d
x
2
f i
1
; x
2
;
F
2
F
4
k
i
i
2
k
d
y
2
f i
2
; y
2
:
9
For simplicity, the system equations for the designed controller
indicate displacements in the locations of the exible coupling
and magnetic bearing. Since the rotor is assumed to be rigid and
the displacement from the desired position is assumed to be small,
the relationships between the shaft positions (x
1
, x
2
, y
1
, y
2
) and the
mass center (x, y, h
x
, h
y
) can be shown as
x
bx
1
ax
2
a b
bx
1
ax
2
L
;
y
by
1
ay
2
a b
by
1
ay
2
L
;
h
x
y
1
y
2
a b
y
1
y
2
L
;
h
y
x
2
x
1
a b
x
2
x
1
L
;
10
where a is the distance between the exible coupling and the mass
center; b is the distance between the magnetic bearing and the
mass center; and L = a + b.
The dynamics of the system can be rearranged in matrix form as
follows:
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
_
_
_
_
x
1
x
2
y
1
y
2
_
_
_
c
T
b
3
0 a
1
a
1
c
T
b
2
0 a
2
a
2
a
1
a
1
c
T
b
3
0
a
2
a
2
c
T
b
2
0
_
_
_
_
_ x
1
_ x
2
_ y
1
_ y
2
_
_
_
k
T
b
3
k
d
b
2
0 0
k
T
b
2
k
d
b
1
0 0
0 0 k
T
b
3
k
d
b
2
0 0 k
T
b
2
k
d
b
1
_
_
_
_
x
1
x
2
y
1
y
2
_
_
_
k
i
b
2
0
k
i
b
1
0
0 k
i
b
2
0 k
i
b
1
_
_
_
_
i
1
i
2
_ _
c
2
0 b
2
0
c
1
0 b
1
0
0 c
2
0 b
2
0 c
1
0 b
1
_
_
_
m
p
rX
2
cosXt h
m
p
rX
2
sinXt h
f i
1
; x
2
f i
2
; y
2
_
_
0
0
1
1
_
_
_
_
g;
11a
where a
1
IpXa
IL
, a
2
IpXb
IL
, b
1
b
2
1
1
m
, b
2
ab
1
1
m
, b
3
a
2
1
1
m
, c
1
bd
1
1
m
; and c
2
ad
1
1
m
. Eq. (11a) can be expressed as
Mx C_ x Kx Bu Ew Dg; 11b
where x = [x
1
x
2
y
1
y
2
]
T
is the state vector; u = [i
1
i
2
]
T
is the input
vector; and w = [m
p
rX
2
cos(Xt + h) m
p
rX
2
sin(Xt + h)f(i
1
,x
2
)f(i
2
,x
2
)]
T
is the vector of the disturbance forces.
3.2. Model-based unbalanced forces observer
Here, we describe a decentralized force estimator for compen-
sating disturbance forces. Considering Eq. (11a), the dynamics of
the suspended magnetic part can be rearranged as follows:
1 0
0 1
_ _
x
2
y
2
_ _
k
d
b
1
0
0 k
d
b
1
_ _
x
2
y
2
_ _
k
i
b
1
0
0 k
i
b
1
_ _
i
1
i
2
_ _
dx
2
dy
2
_ _
;
12
where dx
2
and dy
2
are the sum of the disturbance forces, including
unbalanced forces, force of gravity, coupling forces, and gyroscopic
forces for both the x and y directions.
2
3
4
1
Fig. 4. Geometry relationship of the rotor system.
K.-Y. Chen et al. / Expert Systems with Applications 36 (2009) 85608570 8563
Self-Tuning
FPIDC
Magnetic Bearing
System
+
-
Unbalanced Force
Observer
Fuzzy
Inference
System erivative
Estimator
Fuzzy Gain Tuning Mech
Model-Based Unbalance Compensator
Fig. 5. Control structure of the AMB system with the model-based unbalance compensator.
0.5 0 -0.5 1
NB
1
-1
NS PS PB ZE
Fig. 6. Membership functions of Y
2
and DY
2
.
air gap, g
electromagnet
+ i0 iy
i0 x + i
f
x
x
i i -
0 y
i - i
f
y
shaft
rotor
0 x
y
a
b
Fig. 7. (a) End view of the magnetic bearing; (b) photograph of the experimental setup.
Table 3
TakagiSugeno type fuzzy rule base for the computation of a.
Y
2
NB NS ZE PS PB
DY
2
NB 1 0.7 0.5 0.3 0
NS 0.7 0.4 0.2 0 0.3
ZE 0.5 0.2 0 0.2 0.5
PS 0.3 0 0.2 0.4 0.7
PB 0 0.3 0.5 0.7 1
8564 K.-Y. Chen et al. / Expert Systems with Applications 36 (2009) 85608570
The sum of disturbance forces can be expressed as
dx
2
c
1
m
p
rX
2
cosXt h c
T
b
2
_ x
1
a
2
_ y
1
k
T
b
2
x
1
a
2
_ y
2
;
dy
2
c
1
m
p
rX
2
sinXt h a
2
_ x
1
c
T
b
2
_ y
1
k
T
b
2
y
1
a
2
_ y
2
g:
13
It is obvious from Eq. (12) that the system can be separated into two
similar sub-systems. Hence, we design a force estimator y
2
for that
is also suitable for x
2
.
The dynamic equation of y
2
can be expressed as
_ y
2
y
2
_ _
0 1
k
d
b
1
0
_ _
y
2
_ y
2
_ _
0
k
i
b
1
_ _
i
2
0
1
_ _
dy
2
Ay
2
Bi
2
Ddy
2
;
y
y2
g
s
0
y
2
_ y
2
_ _
Cy
2
;
14
Fig. 8. Shaft displacements on the Y axis and orbits of the rotor center for the PID controller: (a) 10 Hz; (b) 20 Hz; (c) 30 Hz; (d) 40 Hz; (e) 50 Hz; (f) 60 Hz; (g) 70 Hz; (h)
80 Hz.
K.-Y. Chen et al. / Expert Systems with Applications 36 (2009) 85608570 8565
where y
2
y
2
_ y
2
T
and g
s
is the gain of the position sensor. We
can calculate the rank of the observable matrix by
rankV rank
A
_ _ _ _
rank
g
s
0
0 g
s
_ _ _ _
2: 15
The system is thus a fully observable system. The Luenberger state
estimator can be written as
_
^ y
2
y
2
_ _
0 1
k
d
b
1
0
_ _
^ y
2
_
^ y
2
_ _
0
k
i
b
1
_ _
i
2
l
1
l
2
_ _
y
y2
^ y
y2
A^ y
2
Bi
2
Ly
y2
^ y
y2
;
^ y
y2
g
s
0
^ y
2
_
^ y
2
_ _
C ^ y
2
:
16
Fig. 9. Shaft displacements on the Y axis and orbits of the rotor center obtained using the self-tuning FPIDC: (a) 10 Hz; (b) 20 Hz; (c) 30 Hz; (d) 40 Hz; (e) 50 Hz; (f) 60 Hz; (g)
70 Hz; (h) 80 Hz.
8566 K.-Y. Chen et al. / Expert Systems with Applications 36 (2009) 85608570
If there is no disturbance term dy
2
, the Luenberger observer makes
the observed error decay to zero. In other words, we can stabilize
the estimated system and make the observed displacement and
velocity of the rotor approach that of a real systemvia suitable gains
of
L. Hence, the disturbance term exists all the time. The observed
error is affected by the disturbance term of dy
2
, leading to variation
in the estimated output. In other words, the variation in the ob-
served output is a measurement criterion for the disturbance force
dy
2
. Thus if we set the error integral term d^ y
2
to be
d^ y
2
g
s
l
d
_
y
2
^ y
2
dt; 17
then insert this into the Luenberger observer. The observer can now
be rewritten as
_
^ y
2
^ y
2
d
_
^ y
2
_
_
_
_
0 1 1
k
d
b
1
0 1
0 0 0
_
_
_
_
^ y
2
_
^ y
2
d^ y
2
_
_
_
_
0
k
i
b
1
0
_
_
_
_i
2
l
1
l
2
l
3
_
_
_
_y
y2
^ y
y2
;
^ y
y2
g
s
0 0
^ y
2
_
^ y
2
d^ y
2
_
_
_
_:
18
The dynamic equation for the error can now be expressed as
_ e
g
s
l
1
1 0
g
s
l
2
k
d
b
1
0 1
g
s
l
d
0 0
_
_
_
_e
0
0
1
_
_
_
_d_ y
2
; 19
where _ e e
y2
_ e
y2
dy
2
d^ y
2
T
and e
y2
= y
2
y
2
.
The characteristic equation for Eq. (19) is
s
3
g
s
l
1
s
2
g
s
l
2
k
d
b
1
s g
s
l
d
0: 20
According to the RouthHurwitz stability criterion, the stability
conditions are
g
s
l
1
> 0;
g
s
l
2
k
d
b
1
> 0;
g
s
l
1
g
s
l
2
k
d
b
1
> g
s
l
d
> 0:
21
Hence, suitable gains can be selected utilizing Eq. (21) to make the
observer stable. We can also design an observer for x
2
that makes
both observers stable and provides feedback to the system.
However, if there are some model uncertainties in the rotor sys-
tem or nonlinearities in the magnetic bearing system, this observer
will not work well at any operating speed. The lag and the ampli-
tude of the phase of the estimated force signal may differ for exact
disturbances. The estimated forces of disturbance increase with the
rotating speed. Hence, in this study, the fuzzy gain tuning mecha-
nism is used to help compensate for magnetic nonlinearities and
improve system performance.
3.3. Fuzzy tuning method for the unbalanced forces observer
Unlike conventional types of control, which need a precise
mathematical model of the plant, fuzzy control design is based
Fig. 10. Observed and measured shaft displacements on the Y axis obtained using the self-tuning FPIDC: (a) 10 Hz; (b) 20 Hz; (c) 30 Hz; (d) 40 Hz; (e) 50 Hz; (f) 60 Hz; (g)
70 Hz; (h) 80 Hz.
Table 4
Initial values of parameters used in the experiments.
PID controller K
p
= 1.2, K
I
= 2,
K
D
= 0.002, i
0
= 1.5
Self-tuning FPIDC K
e
= 0.6, K
ds
= 1,
a = 3.4, b
s
= 0.001,
i
0
= 1.5, K
ae
= 1.2,
K
rm
= 0.2, K
f
= 2.4,
K
fd
= 2.4
Unbalanced force observer k
d
= 12,000, k
i
= 35,
b
1
= 2.6, l
2
= 600,
l
d
= 45, g
s
= 4000
Fuzzy gain tuner SF
e
= 4, SF_ e
1:2,
SF
a
= 2.4
K.-Y. Chen et al. / Expert Systems with Applications 36 (2009) 85608570 8567
on an expert linguistic description of the system behavior. In other
words, fuzzy logic control is a knowledge-based system. In this
section, we describe the proposed fuzzy tuning mechanism, where
input signals obtained from the model-based force observer are
used to adjust the output signal of the self-tuning FPIDC of the
AMB system, thereby overcoming disturbances and suppressing
unbalanced vibration.
A block diagram of our AMB system with the model-based
unbalance compensator is shown in Fig. 5. A self-tuning FPIDC is
used to calculate the control current driving the electromagnets
suspending the rotor. Furthermore, a model-based unbalance com-
pensator, constructed with a model-based unbalanced forces ob-
server using the fuzzy gain tuning method, is used to suppress
Fig. 11. Shaft displacements on the Y axis and orbits of the rotor center obtained using the self-tuning FPIDC with fuzzy gain tuning mechanism: (a) 10 Hz; (b) 20 Hz; (c)
30 Hz; (d) 40 Hz; (e) 50 Hz; (f) 60 Hz; (g) 70 Hz; (h) 80 Hz.
8568 K.-Y. Chen et al. / Expert Systems with Applications 36 (2009) 85608570
unbalanced vibration and improve the control performance of the
AMB system.
The fuzzy rules of the gain tuning method are designed based
on variances in the magnitude and the rate of change of the vibra-
tion. These naturally increase as the force of the disturbance in-
creases. The vibration signal is periodic and symmetric. We thus
use the signal obtained from the observer and its derivative to de-
sign the fuzzy rules. Various types of fuzzy inference methods that
have been used to design the fuzzy logic controllers are described
in the literature (Chung et al., 1998; Gzelkaya et al., 2003; Mudi &
Pal, 1999; Qiao & Mizumoto, 1996; Woo et al., 2000). It is well-
known that the TakagiSugeno inference method enhances the
efciency of the defuzzication process, because it greatly simpli-
es the computation required by the Mamdani method. Hence, we
use the TakagiSugeno method to design the fuzzy tuner.
The proposed fuzzy tuner has two-input variables and a signal
output. The MFs for the input variables: the observed shaft dis-
placement ^ y
2
and the derivative of the observed shaft displacement
_
^ y
2
, are shown in Fig. 6, where the universe of discourse for each in-
put is normalized over the interval [1, 1]; the fuzzy variables are
labeled NB, NS, ZE, PS, and PB and represent negative
big, negative small, zero, positive small, and positive big,
respectively. Symmetrical triangular uniformly distributed MFs
are assigned for the two-input variables.
The rule base for the computation of the output variable a is
shown in Table 3. This is a commonly used two-dimensional phase
plane rule base. To make the self-tuning FPIDC produce a small
unbalanced vibration in the AMB system, the controller gain is
set to a large value, while ^ y
2
the and
_
^ y
2
are simultaneously positive
big or negative big. In other words, the gain should be set to a small
value to maintain dynamic equilibrium when the unbalanced
vibration of the AMB system is small, such as at rest or when rotat-
ing at a lower speed.
4. Experimental results
4.1. Experimental setup
The experimental setup used in this study consists of a two-axis
controlled horizontal shaft magnetic bearing symmetric in struc-
ture. The magnetic bearing has four identical electromagnets
equally spaced radially around a rotor disk which is made of lam-
inated stainless steel, as shown in Fig. 7a. Each electromagnet in-
cludes a coil and a laminated core made of silicon steel (Fuh &
Tung, 1997). The system is driven by an AC motor through a ex-
ible coupling. This helps to isolate the vibration originating from
the motor. A pair of eddy current type proximity probes is placed
outside the shaft near the electromagnets for measuring the hori-
zontal and vertical displacements at the geometric center of the
shaft. A photograph of the experimental setup is shown in Fig. 7b.
4.2. Results
There are two pairs of electromagnets in this AMB system: on
the X and Y axes. The two pairs of electromagnets are controlled
simultaneously by two PID controllers or two self-tuning FPIDCs.
Diagrams (a1), (b1)(h1) in Figs. 8 and 9 show the shaft displace-
ment on the Y axis; diagrams (a2), (b2)(h2) show the orbits about
the rotor center when only a conventional PID controller and a self-
tuning FPIDC are used at rotating speeds from 10 to 80 Hz. In gen-
eral, the shaft displacement (of the rotor center) is smaller in the
horizontal direction than that in the vertical direction because of
the effects of gravity. Hence, we only show the shaft displacement
on the Y axis here. A comparison at the differences between Figs. 8
and 9 show that, the control performance achieved via the self-
tuning FPIDC is better than that with the conventional PID
controller.
To evaluate the performance and characteristics of the proposed
fuzzy gain tuning mechanism, we look at an AMB system con-
trolled by a self-tuning FPIDC without feed-forward unbalanced
force compensation in the rst 10 s. The fuzzy updating gain is
brought into effect after 10 s. Fig. 10 shows the observed and mea-
sured shaft displacement on the Y axis obtained using a self-tuning
FPIDC, at rotational speeds from 10 to 80 Hz. The initial values of
all experimental parameters are shown in Table 4. From the results
in Fig. 10 we can see that the observed shaft displacement (ob-
tained from the model-based observer) is very close to the mea-
sured shaft displacement obtained from the position sensors.
Fig. 11 shows the shaft displacement on the Y axis, and the orbits
about the rotor center obtained using the self-tuning FPIDC with
the proposed fuzzy gain tuning mechanism, for rotating speeds
from 10 to 80 Hz. It can be seen that the proposed scheme can
noticeably reduce the shaft displacement. A comparison at Figs.
11 to 9 shows that the orbits around the rotor center have become
obviously smaller.
5. Conclusion
In this study, a fuzzy gain tuning mechanism is proposed to
suppress unbalanced vibrations in an AMB system. First, a mod-
el-based unbalanced forces estimator for the observation of unbal-
anced forces is described. The experimental results show that the
observed shaft displacements obtained with the observer are very
close to the measured shaft displacements observed by the posi-
tion sensors. We then designed a fuzzy gain tuner to adjust the
actuating signal of the self-tuning FPIDC. The experimental results
clearly show that this scheme improves the performance of a self-
tuning FPIDC for an AMB system.
We can conclude that the model-based unbalanced force obser-
ver fuzzy gain tuning mechanism is indeed more efcient at sup-
pressing unbalanced vibration in an AMB system, and is also
more robust in terms of system uncertainties and nonlinearities,
compared to the self-tuning FPIDC.
Acknowledgement
This project was supported by the National Science Council in
Taiwan, Republic of China, under Project No. NSC 96-2628-E-008-
075-MY3.
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