| Abstract |
The pole placement control with motion decoupling and integral action, according to the full modal synthesis, is addressed in this paper, to control a 1 kW, 18000 min-1 double conical Bearingless Permanent Magnet Synchronous Motor prototype. An electro-mechanical model of the prototype is derived analytically together with the design of the control scheme. The design of a pole placement scheme, with integral action and motion decoupling, is derived, as well as the design of a Luenberger observer. A multi-variable imbalance force rejection filter is integrated in the control scheme, to prevent actuator overloading. The closed-loop performances as well as the sensitivity functions, for the different motions, are measured on a test-bench and compared to their analytic expressions. Operation at nominal speed is finally demonstrated. |
