Rule-based balanced energy controller

The aim of the paper is to present a nonlinear rule based balanced energy control scheme, its synthesis and digital implementation. The plant under consideration is a rotating shaft magnetically suspended by means of two multi-axis hybrid active magnetic bearing (AMB) actuators in order to control five degrees of freedom. The problem is to provide improved step and impulse response performance over any proportional and differential (PD) control and provide a closed-form rule-based equation for the rigid body control solution. The paper focuses on the development of a closed-form solution to the problem of rigid body control of AMBs and the realization of this control method using energy as the domain of control analysis. Included is the comparison of modeled and measured impulse response at various system sample rates. Some experimental results are presented, corresponding to the response of a 40,000 RPM flywheel system supported with this control method. This method provides a new view on the problem of closed loop control.