The active magnetic bearing (AMB) systems mounted in moving vehicles are exposed to the disturbances due to the base motion, often leading to malfunction or damage as well as inaccurate positioning of the system. For the design of such systems, robust control to the base disturbances and low power consumption become essential requirements.
In this study, effective control schemes are proposed for the homo-pole type AMB system, which uses permanent magnets for generation of bias magnetic flux, when it is subject to the base motion, and its control performance is experimentally verified. The base motion of the AMB system is modeled as the dynamic disturbances in the gravity and base excitation forces. To effectively compensate for the disturbances, the angle feed-forward controller based on the inverse dynamic model and the acceleration feed-forward controller based on the normalized filtered-X LMS algorithm and the inverse dynamic model are proposed. The performance test of the prototype AMB system is carried out, when the system is mounted on a 6-DOF motion platform. The experimental results show that the performance of the proposed controllers for the AMB system is satisfactory in compensating for the disturbances due to the base motion.