Nonlinear parametric identification of magnetic bearings |
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| Affiliation: | 1. Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Azadi Ave., Tehran 1458889694, Iran;2. Mechanical Engineering Department, Faculty of Engineering, Urmia University, Urmia 57169/33111, Iran;1. School of Engineering and Information Technology, University of New South Wales at Canberra, Canberra 2600, Australia;2. Departamento de Inteligencia Artificial, Universidad Veracruzana, Sebastián Camacho 5, Centro, Xalapa, Veracruz 91000, Mexico;1. Luxembourg Centre for Systems Biomedicine, University of Luxembourg, 6, avenue du Swing, L-4367 Belvaux, Luxembourg;2. KTH Royal Institute of Technology, S-100 44 Stockholm, Sweden;1. Insitute of Structural Dynamics, Department of Mechanical Engineering, Technische Universität Darmstadt, Otto-Berndt-Strasse 2, 64287 Darmstadt, Germany;2. Alstom (Switzerland) Ltd., Brown Boveri Str. 7, 5401 Baden, Switzerland;1. University of Almería, Dpto. de Informática, Área de Ingeniería de Sistemas y Automática, ceiA3, Ctra. Sacramento s/n, 04120 La Cañada, Almería, Spain;2. University of Seville, Dpto. Ingeniería de Sistemas y Automática, Camino de los Descubrimientos s/n, 41092 Seville, Spain;1. College of Science, China University of Petroleum, Beijing 102249, China;2. Shanghai Development Center of Computer Software Technology, Shanghai, China;3. Australasian Joint Research Centre for Building Information Modelling, School of Built Environment, Curtin University, Perth, WA 6845, Australia;4. Department of Housing and Interior Design, Kyung Hee University, Seoul, Republic of Korea;5. Department of Mathematics, Curtin University, Perth, WA 6845, Australia |
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| Abstract: | This paper proposes a new electromagnetic force model and its parameter identification method. As a case study, the parameters of the proposed model for an experimental electromagnetic bearing system are obtained using extended Kalman filter (EKF). The experimental setup includes a symmetric rigid rotor which is disturbed by the electromagnet of a magnetic bearing. Experimental results show that the system response to harmonic excitation includes super-harmonic terms which are not shown by the well-known conventional electromagnetic force model. This shortcoming necessitates an investigation to propose a more realistic electromagnetic force model. Based on the observations of the system response, a novel parametric model is presented in the form of a nonlinear Mathieu–Duffing equation with unknown coefficients. Then in the operating frequency range, a random input is synthesized and applied to the experimental system as a persistent excitation and the response of the system is recorded. In order to estimate the states and parameters of the model, the EKF method has been applied to the recorded input–output data. To validate the identification results the outputs of estimated and experimental models are compared in time and frequency domains. The results show a notable improvement in modeling of magnetic force. The proposed model and the method for identifying its parameters are applicable for all magnetic fields. |
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