Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Modelling and Analysis of a Field-Circuit Model for

the Hybrid Magnetic Bearing
Eng. Jamal Mohammed Shehata1,
Eng. Majed Alshammari2
1
Bachelor degree in Automotive Mechanics, Public Authority for Applied education and Training

Abstract:- This paper's proposed (HMB) model is

dedicated and simulated to offer the transient condition.
This model involves two components. The first section
included mechanics and electrical circuits described by
ordinary differential equations (ODF). Regarding the
second section, several parameters are acquired from the
simulated model, including velocity-induced voltages,
magnetic forces, and dynamic inductances, which are
acquired from the analysis. Regarding the simulation
environment, MATLAB/Simulink environment was
employed to conduct the proposed simulation model
beside to desired control system. Then, the comparison
process between the suggested HMB prototype with time
responses was assisted in validating the proposed model
of the field circuit. Fig 1 Hybrid Magnetic Bearing

Keywords:- Hybrid Magnetic Bearing, Ordinary Based on AMB in this research (Singh & Tiwari,
Differential Equations, MATLAB/Simulink Software, HMB 2018), the study has been searched and investigated to
Prototype, Field Circuit. regulate the identification possibility of the crack evidencing
within the flexible rotor supported with the AMB approach.
I. INTRODUCTION In addition, a splintered rotor with supported AMB inside
the configuration of the auxiliary bearing has been studied
Repulsion, attraction, or magnetic force that appears and analysed to determine the supported end bearing
between particles electrically charged due to their motion stiffness and crack identification.
within its field. Regarding the magnetic force, a magnetic
bearing (MB) denotes a machine with electromechanical According to (Jabbar, et al., 2003), this research has
behaviour(Samanta & Hirani, 2022). However, magnetic suggested the time-stepping finite element (FEM) model to
forces are utilised for several functions, such as suspending employ it with the AMB approach that includes two
the rotor without resorting to mechanical contact. sections. The first section included mechanics and electrical
Consequently, MB is fitted and operated within high-speed circuits' ordinary differential equations (ODF). Regarding
machines because of their contactless process(Lomonova, the second section, electromagnetic FEM that has two-
2010). A hybrid magnetic bearing (HMB) with a six-pole dimensional (2D) with MB is analysed and solved by
radial uses less electricity at 86.65% compared to the simulation. The suggested simulation model has several
conventional active magnetic bearing (AMB) with an eight- characteristics; for instance, it permits looking at hysteresis
pole at load capacity for both magnetic bearings (Wajnert, losses that occurred in the simulation model and eddy
2019). Nevertheless, permanent magnets could work to raise currents and has good accuracy. Nevertheless, the proposed
a magnetic leakage flux and increase the saturation within model has one disadvantage involving the conventional
the magnetic circuit. Therefore, HMB's convoluted solution of 2D to solve the magnetic field, and this
construction demands several ways to design dynamic phenomenon gives rise to critical errors in HMB.
simulations(Zhu, et al., 2017) Meanwhile, 3D FEM rather than 2D contributes to
. increasing the time of the simulation.

According to (Wajnert, 2019), the Field- Circuit

Method (FCM), Modified-Time-Stepping-Finite-Element-
Method (MTSF), as well as the traditional Time-Stepping-
Finite-Element (TSFE) Method have been utilised to
calculate the transient current inside transformers. In this
research, the authors have conducted a comparison between
two methods, TSF and MTST, regarding their execution
times for every approach. Therefore, while conducting the

IJISRT23FEB527 www.ijisrt.com 2395

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
comparison, it is noticed MTSF method is faster by two purpose of preserving the stability of the rotor throughout
times than the traditional TSF method. Meanwhile, a one- the length of the pivotal direction.Moreover, the HMRB
phase transformer at two structures has been investigated gives a pivotal restoring force for the purpose of preserving
and studied. In addition, at the end of this research, a the stability of the rotorin a plane at right angles to the rotor
comparison between the measured and calculated influx axis of rotation. Mathematical models for the PMB and
currents was made. HMRB are clarified in this paper. Several studies have
analysed the bearing performance depending on the
Referring to (Zhou, et al., 2020), in the presence of behaviour of torque angle and force position, in addition to
moveable variable mode and the complex distribution of the force current, utilising various techniques similar to the
spatial magnetic field, this study has implemented a torque finite element analysis method (FEM), the equivalent
analysis by employing the FEM method for spherical motors magnetic circuit technique, as well as the magnetic charge
with time consumption and calculation. This study equivalent technique(Han & Zheng, 2013).
contributes to enhancing analysis efficiency by conducting a
spherical motor and calculating torque analysis based on The layout of the MBFW (Magnetic bearing flywheel)
Lorentz force and the current model of the permanent- in an MSCMG (motor-generator-controller-magnet) system
magnet surface. This approach aims to substitute the is depicted in Figure 1. The flywheel rotor is held in place
calculation of finite elements. by the PMB (permanent magnet bias) and the HMRB (high
moment-to-rotor ratio bias). The PMB consists of two
A system known as the MB system, which is groups of rings composed of a permanent magnet. The
composed of a PMB (permanent magnet bias) and a 2-axis different components of the MBFW at the subassembly
active HMRB (high moment-to-rotor ratio bias), is level include the components clarified in Figure 1, where the
presented in several studies. The PMB provides stiffness to PMB and the HMRB support the structure (Han & Zheng,
hold the rotor in place when it is subject to gyroscopic 2013)
forces, and also it gives a pivotal restoring force for the

Fig 2 Configuration of Field-Circuit Model for the HMB Where 1- Denotes the Rotor while 2-Denotes the PMB and 3-Denotes
the Displacement Sensor while 4-Denotes the Hybrid Magnetic Radial Bearing, Similarly 5-Denotes the Touch-Down Bearing, 6-
Denotes the Drive Motor. Finally, 7-Denotes the Cover.

Most energetic magnetic bearing system (MBSs) A study is conducted on analysing magnetic forces and
typically consists of one unit of axial magnetic bearing coupling problems of a combined AMB and RMB. An
(AMB) and two units of radial magnetic bearing (RMB). incorporatedRMB and AMB using a conical shape rotor are
These MB designs are relatively easy to build, but they tend createdand evaluated.Nevertheless, the combined bearings
to be overweight, have high power, and are expensive. It is cause a strong coupling problem between axial and radial
essential to lessen the number of modules by further degrees of freedom. A proposed solution is the AC-DC of 3-
integrating RMB and AMB to lessen the size, price, and DOF HMB, which is created. Its construction and control
power consumption and increase the MBS energy technique is defined in the literature. The 3-DOF axial HMB
density.The combined radial-axial magnetic bearing is also suggested, but it is complex in its structure and
(CRAMB), known as the 3-axis MB, is created for usage in processing technique, and at a high-speed level, it has a
machines operating at ultra-high-speed as a way to considerable rotational power loss. An alternative is
overcome these issues. introduced with a 3-DOF MBlacking a massivedrive rotor

IJISRT23FEB527 www.ijisrt.com 2396

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
disk, and its design is presented. The literature offers a Similarly, another study conducted by (Szelag, et al.,
combined radial-axial MB, not including the axial disc, and 2023)offered a field model of an integrated influence that
its stationary implementation is examined by employing 3D takes place in a pivot magnetic brake. The presented model
FEM analysis. The stationary mathematical prototype of the considers the coupling between the mechanical equilibrium
radial-axial MB is also covered in the literature (Han, 2014). formulas, fleeting fluid dynamics, and thermal fields. The
magnetic field within the considered brakes is induced
This paper offers a 6-pole radial HMB in terms of the through a hybrid means, by both current flowing and
FCM method, which has several parameters such as permanent magnets through the excitation coil. The FEM
velocity-induced voltages, dynamic inductances, and technique and a phased algorithm were employed in the
magnetic force. These parameters were derived by offered field model of integrated influence that takes place
employing the analysis of 3D finite-element. The in a considered magnetic brake. The model considers the
formulation of Euler-Lagrange has derived ordinary magnetic topology nonlinearity, the rheological
differential equations, where these equations contributed to characteristics of the magnetorheological fluid, and the
defining the HMB circuit section. The MATLAB/Simulink impact of temperature gradient on the characteristics of the
software was employed to acquire the simulation model in material. The coupled block over-relaxation and Newton–
the presence of desired controllers. This research aims to Raphson approaches were used to solve and analyse the
construct an HMB dynamic model to monitor strategy obtained expressions of the magnetic field model. The
testing and analyse HMB's performance analysis. established algorithm has been efficaciously employed to
examine the occurrences in the regarded magnetorheological
II. RELATED WORKS brake. Moreover, the established model's applicability and
accuracy were confirmed by matching the simulation
According to (Jin, et al., 2022), it has been pointed out findings and the conducted laboratory tests on the brake
that if the MB rotor is running, an iron loss phenomenon prototype.
possibly will arise in the rotor, which will cause a thermal
imbalance and temperature gradient. In order to investigate However, based on (Shi & Dong, 2022), it was stated
this phenomenon, a multiphysics (dual physical occurrences that the impact of the vibration that produces harmonics
in processor simulations) simulation technique is suggested must be studied and investigated, especially for permanent-
regarding thermomagnetic coupling. This technique is used magnet-synchronous-motor (PMSM). Approach analyses
employing conducting FEM in ANSYS Maxwell modelling based on domain-circle coupling were presented.
to recognise the sources of the iron loss in the MB and the Furthermore, the examination process initiates from a
effect of several influences on the iron losses distribution control approach to a noise response and vibration of the
and magnitude; COMSOL use of thermomagnetic coupling engine in the motor. First, a coupling model comprising a
in an MB to realise the effect of iron loss on the phenomena control approach, an essential circuit model, and the
of temperature distribution.The Ansys simulation findings electromagnetic field model, was constructed. Then, a FEM
specify that because of the early disturbance, the effect of analysis of the PMSM model beneath the coupling effect
MB control of triggering the distribution of the magnetic was created to examine and associate sinusoidal and
field to be uneven on the circumference of the MB rotor, coupling excitations' electromagnetic force tendency
causing the iron loss phenomenon. The bias current and properties. Afterwards, the coupled force was burdened on
control current greatly influence the distribution of iron loss, the structural domain to mimic and compute noise and
whereas the speed and bias current greatly influence the vibration. Finally, the model's effectiveness was tested by
value of the iron loss. Therefore, the concentration of iron comparing the experimental pressure level of sound beneath
loss will cause a temperature gradient at the surface of the acceleration and steady-state conditions, which affords a
MB rotor. The FEM of thermomagnetic coupling is reference for the motor model's prediction of noise and
confirmed employing a temperature growth detection vibration. The field circuit structure is revealed in Figure 3.
experiment. Also, it offers a reference and theoretical basis
for MB's thermal loss and unbalances.

Fig 3 Coupling Structure of Field-Circuit

IJISRT23FEB527 www.ijisrt.com 2397

 Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
A study (Noshadi, 2019) examined a specific type of saturation point, allowing it to carry a higher magnetic field
control system, known as Active Magnetic Bearings before reaching saturation, effectively reducing the eddy
(AMBs), in reliable and high-speed usage. AMBs are current losses.
attractive alternatives to hydrostatic bearings because they
have no mechanical friction, very accurate, and have low A modification for the air gap (δ) magnitude stated as
maintenance costs. Nevertheless, they are characteristically 0.30 mm will be done as the used (δ) value will be 0.39 mm
unstable and necessitate closed feedback controllers for to achieve a good result from the simulation model
maintaining steadiness. The paper specifically looks at using comparable to the actual object. A slight difference between
an H loop-shaping techniquetomake the behaviour steadyin the actual and simulated model is predicted due to the
the adjustable shaft during the stationary condition and then nonmagnetic layer created during the manufacturing with a
introducing an inner loop to minimise vibration and improve length of (0.04, 0.05, and 0.07) mm(Wajnert & Tomczuk,
performance at various rotational speeds. The 2019).
techniqueintegratesproperties of common repetitive and
disturbance observer-based types of controllers. The magnetic poles expose the magnetic force effect
because of an occurring flux between the stator and rotor.
However, only the three poles with windings can regulate
the magnetic force in three different directions, designated
as s1, s2, and s3. The HMB rotor's location is managed
through two controllers, one for the x-axis and one for the y-
axis, by altering the (𝑖𝑥 and 𝑖𝑦) control currents.
Furthermore, the currents in the windings i1, i2, and i3 can
be obtained using the following equations:

𝑖1 = 𝑖𝑦
1 √3
𝑖2 = − 2 𝑖𝑦 + 𝑖𝑥 (1)
2
1 √3
[ 𝑖3 = − 2 𝑖𝑦 + 2
𝑖𝑥 ]

Fig 4 Configuration of the Field-Circuit Model Inside the Furthermore, the rotor position s1, s2, and s3 can be
Magnetic Bearing. obtained using the following equations:

The suggested algorithm's usefulness, shown in Figure 𝑠1 = 𝑦

4 is tested on a MIMO AMB (multi-input-multi-output) 1 √3
𝑠2 = − 2 𝑦 + 𝑥 (2)
scheme, and the findings show that it can robustly stabilise 2
the model and significantly reduce the harmonic 1 √3
[ 𝑠3 = − 2 𝑦 + 2
𝑖𝑥 ]
disturbancesinfluence. Moreover, the HE machines, also
known as hybrid excited machines, combine wound-field
IV. MODEL OF FIELD CIRCUIT FOR HMB
(WF) and Permanent Magnet (PM) machines. They offer a
high level of both torque density and efficiency and good
Two components comprise the field circuit model,
field controllability. These machines usefield windings
where the first part involves several differential equations.
(FWs) and PMssimultaneously, providing further freedom
The differential equations are extracted from the Euler-
regarding the ratio of FW and PM fluxes. In the low-speed
Lagrange formulation. The HMB electrical circuit may be
operating range, DC current in the positive cycle of
governed by the following:
operationwould be fed to the FWs for the purpose of
increasing torque output. In contrast, DC current in the 𝑑𝑖1 𝑑𝑠1
negative cycle of operationwould be fed to the FWs for the 𝑢1 = 𝑅1 𝑖1 + 𝐿𝑑1 (𝑠1 , 𝑖1 ) ∗ + 𝑒𝑣1 (𝑠1 , 𝑖1 ) (3)
purpose of preserving a high power factor and extending the 𝑑𝑡 𝑑𝑡
CPSR. The outcomes showed that by constructing a hybrid 𝑑𝑖2 𝑑𝑠2
magnetic bearing, the modelling and analysis of a field 𝑢2 = 𝑅2 𝑖2 + 𝐿𝑑2 (𝑠2 , 𝑖2 ) ∗ + 𝑒𝑣2 (𝑠2 , 𝑖2 ) (4)
circuit become more complicated, but the outcomes would 𝑑𝑡 𝑑𝑡
be more reliable and satisfactions 𝑑𝑖3 𝑑𝑠3
𝑢3 = 𝑅3 𝑖3 + 𝐿𝑑3 (𝑠3 , 𝑖3 ) ∗ + 𝑒𝑣3 (𝑠3 , 𝑖3 ) (5)
III. THE HYBRID MAGNETIC BEARING (HMB) 𝑑𝑡 𝑑𝑡

In which u1, u2, and u3 represent the supplying voltages

The utilized HMB has six distinct poles, three of which
while R1, R2, and R3, denote the windings resistances, and
have permanent magnets labelled N38, and the other has
Ld1, Ld2, and Ld3, represent the windings dynamic
three windings. The permanent magnets are placed within inductances. Finally, ev1, ev2, and ev3 denote the velocity-
the pole gaps to create a bias flux. Furthermore, the HMB's induced voltages. As mentioned before, the HMB mechanics
rotor and stator are made from a specific type of steel called
may be controlled effectively by the following mathematical
M400-50A for decreasing the amount of eddy currents. This
equations:
is because the steel M400-50A has a high magnetic

IJISRT23FEB527 www.ijisrt.com 2398

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
𝑑2 𝑥
𝑚 = 𝐹𝑥 (𝑥, 𝑖𝑥 ) + 𝑚𝜔2 𝑒𝑠 cos(𝜔𝑡) (6) The applied magnetics forces Fx, Fy, and Fz,
𝑑𝑡 2
represented in Figure 5, may be calculated by the virtual
𝑑2 𝑦 work approach:
𝑚 = 𝐹𝑦 (𝑥, 𝑖𝑦 ) − 𝑚𝑔 + 𝑚𝜔2 𝑒𝑠 sin(𝜔𝑡)
𝑑𝑡 2
∂W𝑐𝑜 (𝑥, 𝑖𝑥 )
𝐹𝑥 (𝑥, 𝑖𝑥 ) = |𝑖𝑥 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (9)
The symbols Fx& Fy represent the magnetic forces ∂x
applied in both the x-axis and y-axis. While es represents the
eccentricity, ω represents the rotational speed, and finally, ∂W𝑐𝑜 (𝑦, 𝑖𝑦 )
𝐹𝑦 (𝑥, 𝑖𝑦 ) = |𝑖𝑦 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (10)
the symbol m represents the rotor mass, and g refers to the ∂y
gravity acceleration.
Where the symbol W𝑐𝑜 represents the HMB of the
The second part involves several parameters, such as energy. However, the ψ, magnetic flux linkage, has been
the dynamic inductance identified as Ld1, Ld2, and Ld3, the found by applying the following formula:
velocity-induced voltages ev1, ev2, and ev3 in addition to the
magnetic forces Fx and Fy.
⃑ . 𝑑𝑆,
ψ = 𝑁∬ 𝐵 (11)
𝑆
Half of the geometry of the real object is constituted
within the FEM to minimize the tetrahedral number of
The term N represents the stator winding turn number
elements. In the simulation, the calculation domains were
and the term S represents the pole area. The linkages ψ1, ψ2,
divided into smaller sections using an adaptive meshing
ψ3 have been employed in order to determine the velocity-
technique. The boundaries of the studied simulation model
induced voltages and the dynamic inductances based on the
have been positioned 40 mm away from the rotor and stator,
following mathematical expressions:
except for the level of symmetry, which was positionedat
mid the length of the stator.In contrast, the simulation
model's outer surface was given a zero Dirichlet boundary ∂ψ1 (𝑠1 , 𝑖1 )
𝐿𝑑1 (𝑠1 , 𝑖1 ) = (12)
condition, while a symmetry plane was given a zero value of ∂𝑖1
the Neumann boundary condition. The magnetic material's
nonlinear behaviour was evaluated using a closed magnetic ∂ψ2 (𝑠2 , 𝑖2 )
𝐿𝑑2 (𝑠2 , 𝑖2 ) =
circuit (Tomczuk & Koteras, 2015). The solution for the ∂𝑖2
distribution of the magnetic field was obtained using a
magneto static solver that employs the T~-Ω approach. 𝐿𝑑3 (𝑠3 , 𝑖3 ) =
∂ψ2 (𝑠3 ,𝑖3 )
Moreover, the (H~) magnetic field was signified by a ∂𝑖3
combination of the magnetic scalar potential (known as Ω)
∂ψ1 (𝑠1 ,𝑖1 )
and the current vector potential (known as T~) (Badics & 𝑒𝑣1 (𝑠1 𝑖1 ) = (13)
∂𝑠1
Cendes, 2007).
∂ψ2 (𝑠2 , 𝑖2 )
⃑ =𝑇
𝐻 ⃑ + ∇Ω (7) 𝑒𝑣2 (𝑠2 𝑖2 ) =
∂𝑠2
Where the symbol𝐻 ⃑ represents the magnetic field,𝑇
⃑ ∂ψ3 (𝑠3 , 𝑖3 )
achieves the following equation: 𝑒𝑣3 (𝑠3 𝑖3 ) =
∂𝑠3
⃑ =𝐽
∇×𝑇 (8) Because of the symmetry in HMB, the velocity-
induced voltages ev2, ev3, and the dynamic inductances Ld2
Where 𝐽 represents the current density. Generally, the and Ld3 were identical to the dynamic inductance Ld1 and
magnetic field in the current free spaces can be determined the ev1.
by the magnetic scalar potential Ω:
The displacement stiffness and the current are critical
⃑ = ∇Ω
𝐻 in designing the magnetic bearing's control. Table 1 shows
the HBM parameters and the lack of control currents
determined for the central rotor position

Table 1 HMB Parameters

IJISRT23FEB527 www.ijisrt.com 2399

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

V. THE FIELD-CIRCUIT MODEL USING al., 2018). Among these, the PID (proportional-integral-
MATLAB/SIMULINK SOFTWARE derivative) controller represents the most frequently
universally employed due to its ease. Furthermore, position
The control scheme plays a crucial function in the MB PID controllers are frequently utilised in conjunction with
system because it enables the rotor to be liftedand the current control method (Kushwah & Patra, 2014). Figure
determines its entire performance. Various control systems 5 illustrates the FCM integration with a control scheme
have been studied, such as PD, LQR, and PID (Srinivas, et using MATLAB/Simulink environment.

Fig 5 The Control Scheme Being Executed Using the MATLAB/Simulink Environment. The System Includes Controllers for the
Position In the X and Y Axes (PCX And PCY) as well as Controllers for the Current In Three Different Windings
(CC1, CC2, andCC3).

Both the internal feedback loop and external feedback which is made up of dual position controllers (PCX and
loop are included in the control system. The internal PCY) with a conversion block that converts control currents
feedback loop maintains the stability of the current in the into windings currents; the main loop used in the current
HMB winding. Three current controllers are included in the control process, as well as the HMB's mechanical equations.
internal loop (CC1, CC2, and CC3) with power amplifiers Furthermore, the subsystem "HMB" represents the FCM
and HMB's power equations. However, the stability of the implementation as outlined in Equation 1 through Equation
rotor position is maintained by the external feedback loop, 4 and is illustrated in Figure 6.

IJISRT23FEB527 www.ijisrt.com 2400

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 6 The HMB Simulation Model

In Figure 7, the system includes look-up tables labelled implemented to describe and define the first winding. The
𝐹𝑥 (𝑥, 𝑖𝑥 ) and 𝐹𝑦 (𝑦, 𝑖𝑦 ), which contain previously computed look-up tables labelled 𝐿𝑑1 (𝑠1 , 𝑖1 )and 𝑒𝑣1 (𝑠1 , 𝑖1 )include
magnetic force traits in both the x and y axes. The three computed traits of the dynamic inductance and the voltage
subsystems labelled (Winding No.1), (Winding No.2), and induced by velocity.
(Winding No.3) implement the HMB electrical
Equations(3). Thus, in Figure 9, equation (3a) is

Fig 7 The First Winding Simulation Model.

The HMB linear model is used to obtain the control

system's parameters. A set of equations below describes the 𝑇𝑠 𝑁
𝐺𝑃𝐼𝐷 (𝑧) = (𝐾𝑃 ) + (𝐾1 ) + (𝐾𝐷 𝑇 𝑁) (14)
𝑧−1 1+ 𝑠
2 𝑧−1
𝑑 𝑥
𝑚 = 𝑘𝑠𝑥 𝑥 + 𝑘𝑖𝑥 𝑖𝑥 (13 𝑎)
𝑑𝑡 2 The currents in the windings, denoted by (𝑖1 , 𝑖2 , and
2 𝑖3 ), are regulated by 3 PI controllers that operate at discrete
𝑑 𝑦
𝑚 = 𝑘𝑠𝑦 𝑦 + 𝑘𝑖𝑦 𝑖𝑦 (13𝑏) intervals.
𝑑𝑡 2
𝑇𝑠
The point of linearisation for the HMB's magnetic 𝐺𝑃𝐼 (𝑧) = (𝐾𝑃 ) + (𝐾1 ) (15)
force is obtained from the permanent magnets and magnetic 𝑧−1
circuit systems. Furthermore, for the specific HMB being All controllers have an anti-windup circuit to prevent
discussed, the bias flux equals 76.1 mWb. Also, the density integrator windup (Premkumar, et al., 2019). Such
of the magnetic field is 0.634 T, which is for the magnetic controllers have parameters that can be determined using
field in poles in conjunction with the permanent magnets.
analytical formulas as follows:
Two separated PID controllers manage the rotor's position in
the two axes. Noting that 𝐾𝑃 , 𝐾1, and 𝐾𝐷 are variables used 𝐾𝑝 = [(𝑝1 𝑝2 + 𝑝2 𝑝3 + 𝑝1 𝑝3 )𝑚 − 𝑘𝑠 ]⁄𝑘𝑖 (16 𝑎)
in a controller, and 𝑇𝑠 represents the interval at which data is
collected. 𝑁Represents the value used to filter data in the
𝐾𝐼 = [(−𝑝1 𝑝2 𝑝3 )𝑚]⁄𝑘𝑖 (16 𝑏)
derivative calculation.

IJISRT23FEB527 www.ijisrt.com 2401

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
𝐾𝐷 = [(−𝑝1 − 𝑝2 − 𝑝3 )𝑚]⁄𝑘𝑖 (16 𝑐) HMB's control system. Furthermore, the actuator is
considered a computer with a controller board of DS-1104
The variables 𝑝1 , 𝑝2 , and 𝑝3 represent the necessary R&D, current transducers, proximity sensors, semiconductor
poles for the control system to function correctly. Thus, power amplifiers, and the verify the bench. Also, there are 3
these poles determined the MB system's dynamic response LEM LTS-6NP sensors utilised for measuring current
and are defined as follows. Noting that 𝜔𝑛 is the natural levels. In addition, 2- eddy current proximity sensors with
frequency of the system without any damping, and 𝜉 MDS10/MDT10 monitor the gap between the rotor and
represents the damping ratio, both of which are used to stator. Their measuring range is between 0.5 mm and 2.5
define the complex poles 𝑝1 and 𝑝2 . mm, with a 10 kHz frequency response.

𝑝1 , 𝑝2 = −𝜔𝑛 𝜉 ∓ 𝑗𝜔𝑛 √1 − 𝜉 2 (17)

The value of 𝑝3 should not affect the MB system’s

dynamic response. The values of 𝑝1 and 𝑝2 can be found by
comparing the characteristics of a 2nd order equation to those
of a mass-spring-damper system, and different expressions
can be used to calculate them and the damping coefficient 𝑐
and the stiffness coefficient 𝑘 are used in the expressions for
computing the complex poles 𝑝1 , 𝑝2 , and𝑝3 . Fig 8 The Test Bench's General Layout of the HMB's
Control System

𝑐 𝑘 𝑐2 The DS1104 board accomplishes several tasks

𝑝1 , 𝑝2 = − ∓ 𝑗√ − (18)
2𝑚 𝑚 4𝑚2 converting position signals and current from analogue - to -
digital; running 3-PI current controllers; running 2-PID
position controllers; and producing PWM signals that switch
𝑝3 = √𝑘/𝑚 (19) power amplifiers. Furthermore, both (12-bit A/D) and 1 (16-
bit A/D) converters are present on the (DS-1104 R&D)
Both factors 𝑘 and 𝑐 are commonly used to compare controller board.
different bearing types, in which the PID controllers'
parameters were calculated using equation (17) and equation The four-channel analogue multiplexer is also
(18) with 30000 𝑁/𝑚and 100 𝑁𝑠/𝑚 as stiffness value of 𝑘 implemented on the (16-bit A/D) converter. The entire A/D
and a damping coefficient, respectively. The PI current converters employ an inner sample-and-hold circuit and a
controllers ‘parameters were set through manual successive approximation technique for converting the
modification to achieve and ensure acceptable overshooting analogue signal into a digital value. In addition, four (12-bit
with a fast response. Table 2 shows the position controller A/D) converters of a combined resolution of 1.693 mA/bit
coefficients values and the current controller coefficients and a frequency of 20 kHz concurrently transform the
values. current signal. Also, the (16-bit A/D) converter of frequency
equals 10 kHz with a resolution of 0.03815 m/bit converts
Table 2 The Position and Current Controller Coefficients. the position signals in both the x and y axes. The delay
among two rotor position samples should not exceed two µs.
Also, the semiconductorpower amplifiers operate at a
frequency equal to 50 kHz.

Furthermore, the FCM was verified by comparing the

time responses gained as a result of the simulation
modelling of the actual objects. Three dynamic states were
taken into account: a step change of ±20 µm for the x-axis, a
step change of ±20 µm for the y-axis, as well as the rotation
position of the rotor with a frequency equal to 100 Hz.
Figure 9 illustrates the time response results of the control
currents.
VI. RESULTS AND DISCUSSION

Figure 8 depicts the test bench's general layout of the

IJISRT23FEB527 www.ijisrt.com 2402

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 9 The Time Responses Results of the Control Currents: (a) Rotor Position is (X)

Fig 9 The Time Responses Results of the Control Currents: (b) Control Current is (Iy)

Fig 9 The Time Responses Results of the Control Currents: (c) Rotor Position is (Y)

IJISRT23FEB527 www.ijisrt.com 2403

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 9 The Time Responses Results of the Control Currents: (d) Step Change is ±20µm of the Position of the Rotor.

An observable interference signal that appears in the axis with the rotor position's step change, shown in Figure
measurements is the result of the amplifiers of the switching 8/b. This behaviour designates cross-coupling in the two
power, as well as the inadequate electromagnetic protection axes, which leads to a noteworthy change in the orthogonal
of the analogy signals. axis of the control current. The time response of the i x
control current, in addition to the rotation position of the
However, in the actual object, there is a clear rotation rotor in the two axes with a step change equal to ±20 µm, is
position of the rotor disturbance in the orthogonal axis to the represented in Figure 10.

Fig 10 The Time Responses Results of the Control Currents: (a) Rotor Position is (X)

Fig 10 The Time Responses Results of the Control Currents: (b) Control Current is (Iy)

IJISRT23FEB527 www.ijisrt.com 2404

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 10 The Time Responses Results of the Control Currents: (c) Rotor Position is (Y)

Fig 10 The Time Responses Results of the Control Currents: (d) Step Change is ±20µm of the Position of the Rotor

The precision of FCM is evaluated by computing the

Root-Mean-Squared-Errors denoted by (RMSEs) between 𝑅𝑀𝑆𝐸𝑖𝑦
the measured values and simulations. Thus, they are 𝑛
computed using specific mathematical expressions as 1 2
follows. Note that 𝑛 represents the number of data points = √ ∑[𝑖𝑦,𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 (𝑘) − 𝑖𝑦,𝑠𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛 (𝑘)] (20 𝑑)
𝑛
used in the measurements when calculating the Root Mean 𝑘=1

Squared Errors (RMSEs).

Table 3 lists the RMSEs values computed for the
𝑅𝑀𝑆𝐸𝑥 transient responses shown in Figures 9 and 10. It can be
𝑛 observed that the errors are smaller on the y-axis.
1
= √ ∑[𝑥𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 (𝑘) − 𝑥𝑠𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛 (𝑘)]2 (20 𝑎)
𝑛 Table 3 RMSE Regarding Transient Responses
𝑘=1

𝑅𝑀𝑆𝐸𝑖𝑥
𝑛
1 2
= √ ∑[𝑖𝑥,𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 ( ) − 𝑖𝑥,𝑠𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛 (𝑘)] (20 𝑏)
𝑛
𝑘=1

𝑅𝑀𝑆𝐸𝑦
𝑛
1
= √ ∑[𝑦𝑚𝑒𝑎𝑠𝑢𝑟𝑒𝑚𝑒𝑛𝑡 (𝑘) − 𝑦𝑠𝑖𝑚𝑢𝑙𝑎𝑡𝑖𝑜𝑛 (𝑘)]2 (20 𝑐)
𝑛
𝑘=1

IJISRT23FEB527 www.ijisrt.com 2405

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 11 The Variation of Control Currents (Ix) Over Time for Rotor Rotating at a Frequency Equal to 100 Hz.

Fig 12 The Variation of Control Currents (Iy) Over Time for Rotor Rotating at a Frequency Equal to 100 Hz.

Figures 11 and 12 show the control currents of the perfect circle because of the asymmetrical magnetic force
rotor when it is rotating at a 100 Hz frequency value, while nature in the y-axis. Thus, both electrical and mechanical
Figure 13 shows the rotors' position in both axes for the run-out lead to an unbalanced rotation of the oscillations and
same rotation. It is observed that the rotor motion's rotor in the control currents.
trajectory, as found based on the FCM and measurements, is
not a perfect circle. The rotor movement's trajectory is not a

IJISRT23FEB527 www.ijisrt.com 2406

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 13 The Rotor Position in both Axes as it Rotates at a 100 Hz Frequency Value.

VII. CONCLUSION [5.] Jin, C., Su, H. & Dong, Y., 2022. Iron loss analysis
of magnetic bearing system considering magnetic-
In this study, modelling and analysis of a field-circuit thermal coupling. International Journal of Applied
model for the HMB were implemented to simulate the Electromagnetics and Mechanics.
transient condition. This research employed an [6.] Kushwah, M. & Patra, A., 2014. Tuning PID
electromagnetic model of a 3D finite element with controller for speed control of DC motor using soft
mechanics and electrical circuit equations. The model computing techniques-A review.. Advance in
includes the complicated circuit magnetic of HMB shape Electronic and Electric Engineering, 4(2), pp. 141-
and the nonlinear characteristic. The calculation of the 148.
magnetic field’s outcomes is integrated to acquire the [7.] Lomonova, E. A., 2010. Advanced actuation
simulation model, which is utilised as a look-up table. After systems—State of the art: Fundamental and applied
conducting the proposed method, several advantages exist, research. In 2010 International Conference on
such as the short time to calculate the desired analysis and Electrical Machines and Systems IEEE, pp. 13-24.
the low effort to compute the required performance. [8.] Noshadi, A., 2019. Unbalance and Harmonic
Therefore, these advantages return to the parameters of the disturbance attenuation of a flexible shaft with active
proposed system that are computed once. The simulation magnetic bearings. Mechanical Systems and Signal
model section involves desired controllers to levitate the Processing.
magnetic bearing. In addition, the comparison between the [9.] Premkumar, K. et al., 2019. Fuzzy anti-windup pid
rotor location and control currents assisted the verification controlled induction motor.. International Journal of
of the simulated model. The real object is to test several Engineering and Advanced Technology, 9(1), pp.
control schemes and the proposed simulation model that 184-189.
achieved satisfactory results. [10.] Samanta, P. & Hirani, H., 2022. On the evolution of
passive magnetic bearings. Journal of Tribology.
REFERENCES 144(4).
[11.] Shi, Q. & Dong, Y., 2022. Analysis of
[1.] Badics, Z. & Cendes, Z., 2007. Source field electromagnetic vibration and noise of permanent
modelling by mesh incidence matrices. p. 1241– magnet synchronous motor based on field-circuit
1244. coupling. Journal of Vibroengineering.
[2.] Han, B., 2014. Modeling and analysis of coupling [12.] Singh, S. & Tiwari, R., 2018. Model based
performance of dynamic stiffness models for a novel identification of crack and bearing dynamic
combined radial-axial hybrid magnetic bearing. parameters in flexible rotor systems supported with
Mathematical Problems in Engineering. an auxiliary active magnetic bearing. Mechanism and
[3.] Han, B. & Zheng, . S., 2013. Modeling and Analysis Machine Theory, Volume 122, pp. 292-307.
of Coupling Performance Between Passive Magnetic [13.] Srinivas, R. S., Tiwari, R. & Kannababu, C., 2018.
Bearing and Hybrid Magnetic Radial Bearing for Application of active magnetic bearings in flexible
Magnetically Suspended Flywheel. rotordynamic systems–A state-of-the-art review..
[4.] Jabbar, M. A., Liu, Z. & Dong, J., 2003. Time- Mechanical Systems and Signal Processing, Volume
stepping finite-element analysis for the dynamic 106, pp. 537-572.
performance of a permanent magnet synchronous [14.] Szelag, W., Jedryczka, C. & Myszkowski, A., 2023.
motor. IEEE transactions on magnetics, 39(5), pp. Coupled Field Analysis of Phenomena in Hybrid
2621-2623. Excited Magnetorheological Fluid Brake.

IJISRT23FEB527 www.ijisrt.com 2407

Volume 8, Issue 2, February – 2023 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
[15.] Tomczuk, B. & Koteras, D., 2015. 3D Field Analysis
in 3-phase amorphous modular transformer. Archives
of Electrical Engineering, 64(1):119–127, 2015., p.
119–127.
[16.] Wajnert, D., 2019. A field-circuit model of the
hybrid magnetic bearing. Archive of Mechanical
Engineering, 66(2).
[17.] Wajnert, D., 2019. Comparison of two constructions
of hybrid magnetic bearings. Prz. Elektrotechniczn,
Volume 95, pp. 53-58.
[18.] Wajnert, D. & Tomczuk, B., 2019. Nonlinear
magnetic equivalent circuit of the hybrid magnetic
bearing . COMPEL-The international journal for
computation and mathematics in electrical and
electronic engineering, 38(4), pp. 1190-1203.
[19.] Zhou, R., Li, G., Wang, Q. & He, J., 2020. Torque
calculation of permanent-magnet spherical motor
based on permanent-magnet surface current and
Lorentz force. IEEE Transactions on Magnetics,
56(5), pp. 1-9.
[20.] Zhu, Z. Q. et al., 2017. Analysis and reduction of
unipolar leakage flux in series hybrid permanent-
magnet variable flux memory machines. IEEE
Transactions on Magnetics, 53(11), pp. 1-4.

IJISRT23FEB527 www.ijisrt.com 2408