Active disturbance rejection control for bearingless permanent-magnet slice motor based on nonlinear phase-locked loop observer

Zhang, Yifan; Ruan, Xiangyan; Hu, Liang; Li, Bo; Chen, Xin

doi:10.1177/0954406220968131

Cited by 5 publications

(7 citation statements)

References 24 publications

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“…An exemplary current excitation to generate a suspension force in the x-direction is shown. A more detailed explanation can be found in Reference [29].…”

Section: Active Force and Torquementioning

confidence: 99%

“…Therefore, if the installation space of the pump head can be further reduced due to the improvement of its manufacturing materials, the performance of BPMSM for a maglev centrifugal pump will be greatly improved. In our research, considering the radial thickness of the pump casing (1.2 mm), rotor coating material (1.2 mm), and physical suspension gap (0.9 mm) [29], the magnetic gap length δ should be greater than 3.3 mm. Additionally, considering installation errors, δ = 3.5 mm was selected in the designed candidate (see Table 2).…”

Section: Magnetic Gap Length δmentioning

confidence: 99%

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Design Method of Bearingless Permanent Magnet Slice Motor for Maglev Centrifugal Pump Based on Performance Metric Cluster

Zhang

et al. 2021

Actuators

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Different from ordinary AC machines, the design of a bearingless permanent magnet slice motor (BPMSM) considers not only the torque performance, but also the passive and active suspension properties. In addition, BPMSM for a maglev centrifugal pump has unique design characteristics due to the integration of the pump head and sensors. This paper investigates evaluation and design techniques based on a cluster of performance metrics targeting on developing BPMSM for a maglev centrifugal pump. The cluster of performance metrics for BPMSM, including passive stiffness (kz, kz/kx, kz/ky, kα, and kβ) and active factors (ki and cm), is first proposed and an evaluation function fiSi,Li is constructed. Then, practical configurations of BPMSM for a maglev centrifugal pump are summarized. Based on the cluster of performance metrics, the finite-element method (FEM) is used to explore the impact of the rotor magnetization (sinusoidal, diametric, and radial method) on motor properties. Subsequently, the complete design process of BPMSM for a maglev centrifugal pump is introduced and key differences (including three crucial geometric parameters: ratio of rotor height to diameter λ, magnetic gap length δ, and stator tooth width αst) in the design considerations between BPMSM and general bearingless motors are analyzed. Finally, the upgraded performance (kz, kα, kβ, ki, cm, and fiSi,Li increased by about 29%, 38%, 33%, 31%, 21%, and 15%, respectively) of the designed candidate is obtained, which verifies the effectiveness of the proposed design methods.

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“…An exemplary current excitation to generate a suspension force in the x-direction is shown. A more detailed explanation can be found in Reference [29].…”

Section: Active Force and Torquementioning

confidence: 99%

Section: Magnetic Gap Length δmentioning

confidence: 99%

Design Method of Bearingless Permanent Magnet Slice Motor for Maglev Centrifugal Pump Based on Performance Metric Cluster

Zhang

et al. 2021

Actuators

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“…Many papers have been published in this field (see e.g., Refs. [6][7][8][9] and the references therein). The main objective of the ADRC structure is to treat both the unknown unmodeled dynamics, also called internal disturbance, and the external perturbation as general disturbances and actively reject them.…”

Section: Introductionmentioning

confidence: 99%

Extended state observer based fractional order controller design for integer high order systems

Mansouri

Bettayeb

Al‐Saggaf

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, based on the extended state observer (ESO) and on a fractional order controller (FOC), composed of an integer order PID cascaded with a fractional order filter (FOF), a new control scheme for an n th order integer plant is proposed. The ESO is used to estimate and cancel the unknown internal dynamics and the external disturbance. Afterwards, an FOC is designed to resolve the set-point tracking problem. An analytical and systematic method is proposed to design the FOC. This method is based on the Internal Model Control (IMC) and the Bode’s Ideal Transfer Function (BITF). Therefore, the proposed control structure improves the robustness and performance of the traditional linear active disturbance rejection control (LADRC), especially for the open-loop gain variation. In addition, since the system be controlled is an n th order, a general form of the BITF is also proposed. Numerical simulations on a nonlinear model and experimental results on a cart-pendulum system design illustrate the effectiveness of the suggested ESO-PID-FOF scheme for the disturbance rejection, the set-point tracking and robustness. A comparison with the results obtained using the standard LADRC is also presented.

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“…The servomechanism of the robot joint is driven by a surface-mounted permanent magnet synchronous motor. To design the controller, the motor is usually analyzed in the d-q synchronous rotating coordinate system and its voltage equation 23 iswhere u d 、 u q are motor d and q axis stator voltage; R s is armature resistance; L d and L q are motor d and q axis inductance; i d and i q are motor d and q axis stator current; C e is back electromotive force coefficient; p n is the number of pole pairs of the motor; ω m is the angular speed of the motor.…”

Section: Introductionmentioning

confidence: 99%

“…The dynamic equations of the system 23 can be described as followswhere T e is the motor electromagnetic torque; T L is the load torque; J is the inertia of the system in the motor side; B is the viscous friction coefficient; K t is the torque constant; θ m is the angular displacement of the motor.…”

Section: Introductionmentioning

confidence: 99%

Active disturbance rejection control based on inertia estimation and variable gain for servomechanism of industrial robot

Jiang

Chen

Zheng

et al. 2022

Measurement and Control

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This paper proposes an adaptive PID controller based on linear extended state observer (LESO) for the two-degree-of-freedom joint servomechanism of industrial robot with time-varying load, uncertainties of parameters and disturbance. The third-order extended state space equations of the system approximate model is established to obtain LESO which is applied to estimate the state values and the total disturbance. The model reference adaptive algorithm is used to estimate the variable moment of inertia to design the controller parameter for control law which is designed with disturbance compensation. By appropriately selecting the adaptive gain coefficient of model reference adaptive algorithm and the bandwidth of LESO, the influences of parameter uncertainty, unknown dynamics and disturbances are effectively attenuated. Simulation and experimental results show that the proposed method achieves both satisfactory disturbance rejection and tracking performances of the two-degree-of-freedom joint servomechanism.

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Active disturbance rejection control for bearingless permanent-magnet slice motor based on nonlinear phase-locked loop observer

Cited by 5 publications

References 24 publications

Design Method of Bearingless Permanent Magnet Slice Motor for Maglev Centrifugal Pump Based on Performance Metric Cluster

Design Method of Bearingless Permanent Magnet Slice Motor for Maglev Centrifugal Pump Based on Performance Metric Cluster

Extended state observer based fractional order controller design for integer high order systems

Active disturbance rejection control based on inertia estimation and variable gain for servomechanism of industrial robot

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