Decoupling control of radial 4 degree of freedom system of magnetic-liquid double suspension bearing based on generalized extended state observer

Abstract

As the novel suspension bearing, Magnetic-Liquid Double Suspension Bearing (MLDSB) is mainly supported by magnetic suspension and supplemented by a liquid hydrostatic bearing. Due to its great bearing capacity and stiffness, rapid response, great active control, and so on, MLDSB is suitable for medium speed heavy loads and has a large carrying capacity and high operating stability. In addition, the radial inertia coupling and gyroscopic coupling between radial 4-DOF control channels can reduce control precision, operation stability, and reliability of MLDSB. Therefore, a mathematical model of radial 4-DOF rotor-dynamics of MLDSB is established in this paper, and the inherent coupling mechanism is explored. Taking inertial coupling, gyroscopic coupling, and external disturbance loads as lumped disturbances, a decoupled controller based on Generalized Extended State Observer (GESO) is established. The influence of the GESO controller on the decoupling and control performance of radial 4-DOF control channels is simulated. The results indicate that the decoupling effect of the GESO controller is great. Under the action of step signal, the steady displacement, maximum displacement, adjustment time, and peak time of the rotor after decoupling are all reduced, among which the steady displacement and maximum displacement are the most obvious. Under the sinusoidal signal, the steady displacement and maximum displacement are reduced by 90%, which can effectively avoid the “gap-impact” fault. Under the pulse signal, the steady displacement, maximum displacement, adjustment time, and peak time are all reduced, among which the maximum displacement is the most obvious. The research in this paper can provide a theoretical reference for the stable support and decoupling control of MLDSB.