Digital control of active magnetic bearings

Theoretical relationships are developed to relate the characteristics of a controller transfer function to the stiffness and damping properties of an active magnetic bearing for machine rotors. Both proportional and derivative feedback are shown to be necessary for closed-loop system stability, and, for the ideal case, bearing stiffness and damping properties are shown to be simple linear functions of the proportional and derivative feedback gain constants, respectively. The flexibility of a digitally controlled magnetic bearing is demonstrated by the implementation of algorithms which include second-derivative and integral feedback. Second-derivative feedback is shown to be effective at extending the usable bandwidth of the digital controller, and integral feedback rejects rotor position error in the presence of static loads. The relationship between controller sampling rate and bearing performance is investigated, and it is shown that increased sampling rate and increased amounts of second-derivative feedback have similar effects on the bearing properties