A Review of Active Magnetic Bearing Control Technology

Tao Huang1, Min Zheng1,2, Guangfeng Zhang1

1. Mechatronical Engineering and Automation College of Shanghai University, Shanghai 200444,China
E-mail: 510387708@qq.com
2. Shanghai Key Laboratory of Power Plant Automation Technology, Shanghai 200444,China
E-mail: zhengmin@shu.edu.cn

Abstract: Compared with general magnetic bearings, active magnetic bearings(AMBs) have high efficiency, almost no
friction, low consumption. They are widely used in vacuum, ultra-clean, high-speed and other occasions. Firstly, the
principle and structure of AMB are introduced. Then the research work of AMB and its control technology is described.
The research status of the key control technology of AMB and the tuning method to improve the stability and robustness
of the system are summarized. Finally, according to the development direction of AMB with high speed, high precision
and low consumption, the development trend of active magnetic bearing control technology research is analyzed.
Key Words: active magnetic bearing, control technology, tuning method, development trend

dynamic compensation can effectively suppress system

1 INTRODUCTION
AMBs have the advantages of high speed, low loss, long
life and have lower power consumption than fluid films and
rolling bearings [1]. AMBs effectively suppressed vibration
instability while providing higher efficiency and greater
energy density [2].
In addition, AMBs have the advantages of dynamic
stiffness and unbalance compensation [3], which can be
used to eliminate vibrations in the system. With the rapid
development of electronic devices and control algorithms,
AMBs have been widely used in various commercial
applications, including turbine engines used in aerospace,
magnetic levitation trains, flywheel energy storage
equipment and electronic hearts [4]. In the usage scenarios
of most applications, control plants are precisely positioned
and moved to adapt different operational requirements and
environments. In addition, AMBs have an irreplaceable role
in extreme temperature and vacuum operation because of
the non-contact and the frictionless properties [7].
With the development of control theory, AMBs control
systems are developing from simple to complex [8]. Several
controllers and methods used in AMB systems are given in
[9]. Since disturbances occur frequently in the high-speed
applications, in order to solve the rotor imbalance problem
and remain the rotor in the center position under unbalanced
conditions, the control method proposed in the literatures
from classical control methods such as the PID control and
state feedback control to modern control methods such as
neural networks and disturbance observers, etc. And these
control methods have some deficiencies and optimization
space. Since the basic control method has parameter
uncertainty, it has the slowly dynamic response and the poor
control effect. Some studies have shown that adding
fluctuations, enhance dynamic response and control effects.
The introduction of the intelligent optimization algorithm
has made a significant contribution to the optimization of
the control system parameters. It can minimize the error loss
and optimize the system control through different reference
standards. The intelligent optimization algorithms include
genetic algorithm, simulated annealing algorithm, particle
swarm optimization algorithm and various improved
algorithms. The control methods applied in the integer-
order system has been developed well. With the
development of computer technology, people find that the
fractional order can more accurately describe and reflect
some special properties of the object. Based on the research
results obtained, scholars have found that the dynamic
system described by fractional order has the unique
advantages, and the performance of the fractional-order
control system is generally better than that of the integer-
order control system [10].
The rest of the paper is organized as follows. Section 2
describes the principle of the construction of AMBs and
explains the reasons for its nonlinearity and instability.
Section 3 shows the research and development of the
control methods of active magnetic bearings at home and
abroad. The tuning method of the control parameters is
introduced in Section 4. Section 5 presents the main
development trends of the future control methods of AMBs.
2 ACTIVE MAGNETIC BEARING
2.1 Background
The figure 1 shows the principle of a classic AMBs system.
It consists of the electromagnet, the bearing rotor, the power
amplifier, the sensor and the controller. When the rotor is
moved by the external disturbance, the displacement sensor

This work is supported by National Nature Science Foundation under

Grant 61873335

978-1-7281-0106-4/19/$31.00 2019
c IEEE 2888
detects the displacement from the reference point, converts
it into a standard signal and sends it to the controller. The
controller calculates the control amount and outputs a
control calibration signal. The current is adjusted by the
power amplifier and outputs to the magnetic bearing stator
winding. The electromagnetic system generates an
electromagnetic restoring force and controls the rotor to
rotate under equilibrium.
Fig 1. The schematic of active magnetic bearing
In the magnetic suspension system, the adjustment of the
stator electromagnetic force is achieved by changing the
current of the stator winding. Since the core magnetization
process is nonlinear in the initial stage and when the current
of the winding is small, the control current and the
electromagnetic force exhibit the relatively serious
nonlinear relationship, which makes the control difficulty
of the system greatly increased. In order to simplify the
design of the controller and make the electromagnetic
system work in the linear interval, researchers always add
the bias current I0 to the stator winding. There has a bias
magnetic field in the core make the magnetization curve
linear, as shown in Figure 2.
Fig 2. The curve graph of core magnetization
The curvature in the neighborhood of the nominal point
changes little, which could be regarded as linear. However,
the tracking performance of the control strategy deteriorates
sharply with deviation from the nominal operating point
[11]. The magnetic force of active magnetic bearing has
negative stiffness (the stiffness decreases with the increase
of displacement), so the open-loop system is an unstable
and nonlinear system.
2.2 Model of Magnetic Exciter
Since AMBs system has open-loop instability, the design of
the controller needs to be identified. Figure 3 shows a
simple magnetic exciter model. As show as the picture, I is
the coil current, g is the air gap distance, N is the number of
coils at the core, Ag is the area of section, L is the length of
the path, g is the air permeability. The magnetic field
generated by the current will generate an upward force F:
The 31th Chinese Control and Decision Conference (2019 CCDC)
Fig 3. The schematic graph of magnetic actuator
μ g N 2 I 2 Ag
F= (1)
4g 2
By establishing a simple magnetic exciter model, the
relationship between the electromagnetic force of the
bearing and various variables can be obtained from the
model. AMBs system is composed of multiple magnetic
exciter models, and parameters in a certain direction of the
AMBs system can be fine-tuned to achieve balance control
and vibration suppression of the system.
2.3 Magnetic Bearing Model
FIG. 4 shows the structure diagram of single-axis magnetic
bearing. About the design of active magnetic bearing
control, some parameters such as AMB stiffness coefficient
and the natural frequency of flexible rotor needs to be
identified [12]. The identification of AMB system data
under the background of debugging is carried out to
determine the linear state space model and the required
parameters.
Fig 4. The model diagram of Single-axis active magnetic bearing
The rotation axis of AMB rotates along the spin axis. Any
change in the axis position caused by external torque will
exert an additional force, which will cause the precession
axis to rotate along the axis. This phenomenon is called
gyro effect and it depends on angular velocity. The gyro
effect must be taken into account when estimating the radial
force generated by AMB [13]. Many researchers always
ignore the strong coupling between gyroscopic effect and
bearing when modeling.
3 THE CONTROL TECHNOLOGY
The nonlinearity and open-loop instability of AMBS system
hinder its wide application in business and industry. In order
to improve efficiency and performance, AMBs system
should be designed with high speed, short response time and
stability. Although AMBs has existed for a long time, there
are still many problems need to be discussed. Among them,
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 limited bearing stiffness, rotor unbalance and high
frequency oscillation are the key problems. Therefore, in
order to improve the performance of AMBs control system,
the stability and robustness should be improved.
The key problem should be overcome in the system is the
quality imbalance. The deviation between the rotor center
of mass and the inertia axis is the static mass unbalance. The
inclination Angle of the rotational axis of inertia is the
dynamic mass unbalance. Other perturbations acting on the
system are magnetic coupling and non-linearity [14].In
AMBs system, the non-linearity is compensated by the pre-
magnetized dc current of the electromagnetic coil, and then
the controller is designed at the working point of these dc
currents using the linearized system model, which will lead
to unnecessary energy consumption [15].
3.1. Traditional Control
PD and PID controller were designed for magnetic
levitation device and compared [16]. The simulation results
showed that PID control system improved the design
specification of PD control system by reducing steady-state
error and settling time.
Due to the development of industrial technology, magnetic
bearing is required to work at high speed, and the current
stiffness and displacement stiffness of magnetic bearing
will be significantly reduced due to eddy current effect, thus
making the system unstable and even causing rotor drop and
instrument damage. Therefore, the traditional PID method
based on constant stiffness is not suitable for high speed
conditions
It is very difficult to establish an accurate mathematical
model for the high-speed magnetic bearing system. In
addition, the air gap between AMB and rotor is usually very
small [17], so the controller of AMB system must be able
to withstand vibration and maintain stable operation.
Traditional PID can stabilize rotor system at a certain speed.
With the improvement of speed, traditional PID control has
been unable to provide the desired performance and
robustness. When the parameters of the control object
model change or the disturbance factors are uncertain, such
as the operating speed exceeds the critical speed of the
system and the influence of eddy current, it is difficult for
the system to achieve good performance and even may be
unstable. This is detrimental to the AMB system, so
researchers are eager to find controllers with good control
performance.
Sliding mode control (SMC) has attracted extensive
attention in recent years due to its advantages such as
insensitivity to changes in system parameters and external
disturbances that the system trajectory arrives and stays on
the sliding surface, rapid response and simple physical
implementation [18]. The SMC method was applied to
flywheel energy storage system to study the robust
stabilization problem of a class of nonlinear systems and
improve the robustness of the system [19].
In SMC, the tradeoff between chattering and control
precision problem arises at the historic moment. in order to
solve this problem, Su and Wang [20] proposed by adding
complementary CSMC generalized error transform .in
addition, the tracking error reached the phase of the
2890 The 31th Chinese Control and Decision Conference (2019 CCDC)
transient response has greatly improved, but in actual
application of this method is difficult to get the uncertainly
range ahead.
An adaptive complementary sliding mode control system
using MIMO circular Hermite neural network (RHNN)
estimator was proposed to track various reference tracks
[21]. PID and sliding mode control are combined to
improve the robustness of model uncertainty and load
disturbance, and sliding surface ensures the stability of the
system [22]. While reducing the control workload, the
sliding surface is optimized to get a better performance.
Compared with the traditional sensor-based linear control
method, [23] introduces feedback linearization technology
into self-sensing AMB. Feedback linearization requires an
accurate system model, but accurate dynamic models may
be difficult to obtain and system characteristics are often
nonlinear, including system gain variations.
Regarding AMB unbalanced compensation for input delay,
an unbalanced compensation method based on equivalent
output adjustment problem is proposed in [24].It is difficult
to measure the exact position and eccentricity of the
unbalanced rotor in the system. On the contrary, the
position of unbalanced force could be effectively selected
to reproduce the relevant rotor vibration mode in the
mathematical model.
3.2. Advanced Process Control
It is difficult to obtain accurate system model for the system
with nonlinear uncertainty under various circumstances.
Therefore, model-free controller is applied in AMB system
such as PD type fuzzy controller (PD_FLC) and PI type
fuzzy controller (PI-FLC) , which are two common methods
in literature [25].The PI-FLC has the lower steady-state
error than PD-FLC. However, phase lag is introduced in the
integral part, which leads to poor transient performance.
Although PID-FLC control can improve system
performance, the design of this controller is very
complicated due to its rule. In order to solve this problem,
an integrator part is added to the output of PD-FLC, which
is summed to the PD part, and then a PD-FLC +I controller
is generated [26].
Harmonic vibration signals synchronized by frequency and
speed can significantly affect the performance of active
magnetic bearings at high speed, which may lead to the
instability of the system. A hybrid control scheme
consisting of an outer ring h-infinity controller and an inner
ring repetitive disturbance observer controller is proposed
to achieve robust stabilization of the active magnetic
bearing system and reduce the vibration caused by rotor
mass imbalance [27]. Repetitive control can remove
periodic disturbance, but its disadvantages are obvious.
Non-repeated disturbance is amplified, however, the
controller based on disturbance observer (DOBC) can
significantly reduce non-repeated disturbance.
Two adaptive feedback control (ABC) methods are
presented on the AMB system [28]. One is based on
complete state feedback, where displacement, velocity, and
current state are assumed to exist. The other is a feedback
controller (AOBC) based on adaptive observer, which can
estimate the velocity and current state of AMB.
Cui studied the ratio between sampling rate and
fundamental frequency of harmonic current [29]. The
existing repetitive control (RC) for suppressing harmonic
current of magnetic bearings is applicable to integer cases.
If the ratio is a fraction, the harmonic current suppression
performance decreases sharply. In this paper, finite impulse
response FIR filter and fractional repeat control are
combined to realize harmonic current suppression at any
frequency.
Tang decoupled the radial translation mode and tilt mode of
the rotor [30], and used the displacement cross-feedback to
suppress the vibration. When the speed reached 50000
r/min, the results showed that the vibration track was a
circle with a radius of 0.005mm, far less than its magnetic
gap
Peng[31] proposed a hybrid control method for precision
suspension of voltage control based on disturbance observer.
Voltage-controlled AMB systems are often subject to
mismatched disturbances that affect the system through
different control inputs. For this purpose, the objective of
the system is to divide the mismatched disturbance into the
matched component and the mismatched component and
attenuate the matched component through the feedback
robust controller. According to the disturbance observer,
the mismatched components are excluded. This method
deals with the mismatching interference of state variables
and keeps the performance of the robust controller in the
optimal state.
Noshadi proposed a method combining variable harmonic
filter [32], gain scheduling controller and linear parameter-
changed controller to solve the disturbance problem of the
system running at high speed. But the method requires that
the frequency of the sinusoidal disturbance could be directly
measured or accurately known in advance.
Zhu designed an adaptive filter based on the LMS algorithm
to reduce the synchronous vibration of the rotor within the
speed range in the process of rotor acceleration and
deceleration [33].
3.3. Fractional Order Control
It is necessary to balance the controller structure with the
closed-loop system performance in the design of AMBs
controller. Advanced integer order controllers have better
stability and stronger robustness for AMB system, but they
are still rarely used in industrial applications because of the
design is too complex and usually leads to more
computation.
In recent years, fractional calculus theory, as a more
generalized version of integral calculus, has attracted
extensive attention due to its accurate modeling of dynamic
system. The research based on eddy current analysis shows
that fractional order (FO) differential equation is more
accurately than integer order (IO) in simulate the dynamic
AMBs system. Considering the influence of eddy current,
the 2.5-order system model based on current input
established in literature [34]. It is more consistent with the
actual system performance than the integer order system
model. For the dynamic system described by fractional
order, fractional order controller has stronger control ability
than integer order controller.
The 31th Chinese Control and Decision Conference (2019 CCDC)
Anantachaisilp designed fractional PID controller, which
contains two additional parameters to improve the closed-
loop performance without adding additional degrees of
freedom [35]. The proportional gain Kp is similar to the
increased stiffness, and the derivative gain Kd acts as the
additional damping of the system. In addition, integral gain
Ki helps to reduce the rotor position offset due to
electrostatic interference.
A fractional-order sliding mode fast convergence robust
controller is proposed by Alias [36], which guarantees the
stability of closed-loop systems by the fractional-order
stability theorem. Under the condition of system stability,
the parameters of sliding mode surface could be adjusted by
given the crossover frequency and the phase margin. Roy
proves that fractional sliding mode controller is superior to
integer sliding mode controller [37].
A scheme about the fractional active interference
suppression control (FADRC) is proposed by Li [38], which
extended the traditional extended state observer (ESO) to
the fractional order to improve the performance of the
corresponding linear fractional order system (FOS). The
robust analysis shows that the controller is also suitable for
nonlinear FOS control.
4 TURNING METHODS
4.1 The Method Based on Ziegler-Nichols Rule
For integer PID parameter tuning, loop tuning technology
proposed by John Ziegler and Nathaniel Nichols has
established the irreplaceable position of PID algorithm in
the field of industrial control [39]. Ziegler-Nichols method
determines PID controller parameters according to the
transient response of the object. The step response of the
control object is obtained through the experiments. If the
response curve is s-shaped as shown in figure 5, the method
is effective; otherwise, it cannot be used.
Fig 5. Step excitation signal and step response curve of controlled object
In 2006, the adjustment method of FOPID controller based
on Ziegler-Nichols rule is proposed by d. Valerio and j.
Costa [40]. The controlled object is assumed to be a first-
order time-delay system. For the unit step input, the output
is an s-shaped curve. This rule can be used to fine tune or
select an initial point to further adjust the FOPID controller.
4.2 The Intelligent Optimization Method
In order to adjust the controller parameters quickly and
accurately, the intelligent optimization algorithm based on
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 numerical method has been widely studied. The intelligent
optimization algorithms are generally random search
algorithms based on biological intelligence or physical
phenomena, and the theories are not perfect enough to
ensure the globally optimal. However, from the perspective
of practical application, this algorithm does not require the
continuity and convexity of the objective function and its
constraints. Sometimes even does not require the analytical
expression, and has a strong adaptability to the uncertainty
data in the calculation.
Long-yi CHANG proposed a new adaptive genetic
algorithm (AGA) for multi-objective optimization design of
fractional PID controller based on AMB system [41]. The
adaptive algorithm USES the adaptive crossover operator
and mutation operator and improves the global search
ability and convergence speed. The transient performance
index of the dynamic response is combined with the control
input into the fitness function, and these items are weighted
appropriately to optimize the performance of the fractional
order controller.
R. v. rao et al. proposed a teach and learn optimization
method [42]. It imitates the teaching process of a class
group, which is divided into two stages: teaching and
learning. The first stage is learning from teachers, and the
second stage is learning from each other. Because of its fast
convergence speed, it is difficult to fall into the local
optimal characteristics. This method is easily extended to
the optimization of the AMBS controller.
5 Future Research
With the applications of AMBs in high-precision systems,
the performance requirements are getting higher, and the
existing controller cannot meet the demands. The
fractional-order PID controller alone has been unable to
meet the growing demands. By combining fractional order
controller method with other methods (such as fuzzy control,
neural network and other intelligent methods, internal mode
control, etc.), the control performance will be significantly
improved. At present, there are few researches on fractional
order time-delay system of active magnetic bearing, which
will also be a direction of future research. Solving the time-
delay problem will have great help to remote precision
applications.
In the control of AMBs, eddy current effect, magnetic
leakage and system coupling have not been considered in
most literatures. When the system has a higher speed, the
eddy current effect will be more serious, and the coupling
phenomenon will be more obvious, and the stiffness of the
system will change. If the controller parameters remain
unchanged, the components may be damaged.
6 Conclusion
In this paper, firstly, the principle of AMB is studied and its
non-linearity and instability are discussed. Secondly, the
key control methods and corresponding tuning methods to
improve the system stability and robustness are summarized
from the perspective of control technology. Finally, the
development trend of the control technology of active
magnetic bearing system is summarized.
2892 The 31th Chinese Control and Decision Conference (2019 CCDC)
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