- ISSN 0258-2724
- CN 51-1277/U
- EI Compendex
- Scopus
- Indexed by Core Journals of China, Chinese S&T Journal Citation Reports
- Chinese S&T Journal Citation Reports
- Chinese Science Citation Database
| Citation: | XIAO Ling, LI Hanchi, LI Yuanchao, CHENG Wenjie. Cascaded Displacement-Flux Density Control for Electromagnetic Thrust Bearing Based on Coupled Stiffness[J]. Journal of Southwest Jiaotong University. doi: 10.3969/j.issn.0258-2724.20250359
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High-precision control of electromagnetic thrust bearings can enhance the coordination and stability of sorting robotic arms or auxiliary joints in collaborative robots. Flux density feedback control under cascaded control systems is recognized as an effective solution for high-frequency applications; however, there are currently few suitable miniature Hall sensors capable of accurately capturing the real-time magnetic flux density of the air gap. To address the problem of insufficient accuracy in traditional flux density estimation under high-frequency operating conditions, first, a rational approximation of an equivalent reluctance model considering eddy current, magnetic leakage, and edge effects was performed. Secondly, based on the coupled stiffness and an eddy current compensation model incorporating effective inductance, a flux density observer using measurable displacement and current as joint input signals was designed. In the outer loop, a PID controller considering dynamic stiffness was designed to compensate for flux density hysteresis, and the internal flux density control loop was reconstructed. Finally, a cascaded displacement-flux density control loop for the electromagnetic thrust bearing was eXstablished and validated. The results indicate that compared to the current control strategy, the flux density feedback control method can increase the gain margin of the electromagnetic thrust bearing system to 35 dB, maintain the phase margin above 50°, and extend the control bandwidth to 400 Hz. When the current control becomes unstable, the flux density feedback control can suppress the overshoot to below 41.2%, and it demonstrates a smaller overshoot and a faster settling speed in step responses under different parameters and square-wave tracking tests.
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