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<p>This research details the development of a comprehensive model for a five Degrees-of-Freedom (DoF) custom in-house developed Active Magnetic Bearing (AMB) test platform. The rotor’s DoF is achieved utilizing two radial and one axial electromagnetic actuators. The inherently unstable open-loop system is stabilized using conventional PID control, serving as a baseline for comparison against an advanced state-space control technique, namely Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) i.e., LQG/LTR. The tuned controllers were implemented on custom hardware via Simulink real-time. The simulation and experimental results from tri-axis control tests demonstrated satisfactory performance under both static and dynamic conditions. The key performance indicators in the time domain, including reference tracking, disturbance attenuation, and efficient control action, alongside frequency domain stability margins, were achieved. The accuracy of the established model is validated through the successful real-time implementation of both tuned PID and tuned LQG/LTR controllers, employing affordable hall-effect linear magnetic sensors. Notably, the robust LQG/LTR controller exhibited superior performance compared to the benchmark PID controller, showing reduced overshoot, enhanced disturbance rejection, and improved loop gain characteristics. The novelty lies in establishing an accurate model of a 5-DoF in-house developed AMB, validated through experimentation with low-cost Hall-effect sensors, and demonstrating the real-time robust control performance of LQG/LTR. This study is the extension of the author’s previous work of 2-DOF radial AMBs. This study extends beyond theoretical analysis to emphasize practical design considerations and the realization of real-time control.</p>

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Detailed modeling and robust control of a Multi-Axis active magnetic bearing system

  • 期刊论文

  • 发表日期：

    2026年2月11日

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  • Muhammad Hassan,
  • Muhammad Abdul Ahad,
  • Qasim Ali,
  • Sarmad Ishfaq

摘要

This research details the development of a comprehensive model for a five Degrees-of-Freedom (DoF) custom in-house developed Active Magnetic Bearing (AMB) test platform. The rotor’s DoF is achieved utilizing two radial and one axial electromagnetic actuators. The inherently unstable open-loop system is stabilized using conventional PID control, serving as a baseline for comparison against an advanced state-space control technique, namely Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) i.e., LQG/LTR. The tuned controllers were implemented on custom hardware via Simulink real-time. The simulation and experimental results from tri-axis control tests demonstrated satisfactory performance under both static and dynamic conditions. The key performance indicators in the time domain, including reference tracking, disturbance attenuation, and efficient control action, alongside frequency domain stability margins, were achieved. The accuracy of the established model is validated through the successful real-time implementation of both tuned PID and tuned LQG/LTR controllers, employing affordable hall-effect linear magnetic sensors. Notably, the robust LQG/LTR controller exhibited superior performance compared to the benchmark PID controller, showing reduced overshoot, enhanced disturbance rejection, and improved loop gain characteristics. The novelty lies in establishing an accurate model of a 5-DoF in-house developed AMB, validated through experimentation with low-cost Hall-effect sensors, and demonstrating the real-time robust control performance of LQG/LTR. This study is the extension of the author’s previous work of 2-DOF radial AMBs. This study extends beyond theoretical analysis to emphasize practical design considerations and the realization of real-time control.