Estimation and Active Damping of Unbalance Forces in Jeffcott-Like Rotor-Bearing Systems

Chapter 2
Estimation and Active Damping of Unbalance Forces in

Jeffcott-Like Rotor-Bearing Systems
Francisco Beltran-Carbajal,
Gerardo Silva-Navarro and Manuel Arias-Montiel
Additional information is available at the end of the chapter
http://dx.doi.org/10.5772/51180
Provisional chapter
Estimation and Active Damping of Unbalance
Forces in Jeffcott-Like Rotor-Bearing Systems
Francisco Beltran-Carbajal,
Gerardo Silva-Navarro and Manuel Arias-Montiel
Additional information is available at the end of the chapter
1. Introduction
Nowadays, rotordynamics is a technological eld in which research is very active because in
spite of basic phenomena have been widely studied, there are many aspects that still need
theoretical and practical work in order to construct and analyze models to represent with
more precision the dynamic behavior of real machines. Dynamic studies in rotordynamics
usually are preformed by numerical simulations using the mathematical models reported in
literature. The mathematical description of rotating systems allows the possibility to predict
their dynamic behavior and to use this information for the design of control algorithms in
order to preserve the desired stability and dynamic performance. The accuracy of a model is
determined by comparing its response and the response of the real system to the same input
signal [19]. Rotor systems are subjected, in an intrinsic way, to endogenous disturbances,
centrifugal forces by the inevitable unbalance phenomenon. Magnitude of these unbalance
forces depends on the rotor mass, angular speed and distance between geometric center
and center mass of rotor [10, 11, 29]. This last parameter is known as eccentricity and
represents one of the most difcult parameter to measure or to estimate in a rotor system
and consequently, it is an important aspect for the accuracy model.
The recent trends in rotordynamic systems are moving to higher speeds, higher powers,
lighter and more compact machinery, which has resulted in machines operating above one or
more critical speeds and increasing the vibration problems [5, 31]. In literature, the unbalance
phenomenon has been widely reported as the main source of undesired vibration in rotating
machinery [5, 10, 11, 29]. An unacceptable level of vibration can cause failure in the bearings,
high levels of noise, wearing in the mechanical components and eventually, catastrophic
failures in machines [10, 29], hence, control algorithms are needed to reduce the unbalance
effects and to take vibrations amplitudes to acceptable values for a safe machine operation.
2012 Beltran-Carbajal et al., licensee InTech. This is an open access chapter distributed under the terms of the
Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted
use, distribution, and reproduction in any medium, provided the original work is properly cited.
2012 Beltran-Carbajal et al.; licensee InTech. This is an open access article distributed under the terms of
the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits
unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
2 Vibration Control
In literature, some different approaches to solve the problem of the model accuracy have been
proposed. An estimation procedure to identify the distributed eccentricity along the shaft of
a Jeffcott-like rotor was presented by Yang and Lin (2002). The eccentricity distributions of
the shaft are assumed as polynomial of certain grade and the disk eccentricity is considered
as lumped. Measurements in different locations along the shaft and to different rotational
speeds are needed. By some numerical simulations, they found the method efciency
depends on the number of sensors available and on the number of operating speeds. Some
other authors have proposed the problem solution in a lumped parameters approach. Maslen
et al. (2002) developed a method to analytically adjust the models of rotor systems to
make them consistent with experimental data under the assumption that the predominant
uncertainties in the models occur at discrete points, from effects like seal coefcients or
foundation interactions. The purpose of the method is to modify the engineering model
such that the output of the model matches the experimental data in frequency domain. They
show some examples to identify lumped stiffness at the supports and seal coefcients, but
not the associated unbalance parameters and the results are presented through numerical
simulations. De Queiroz (2009) presented a relatively simple feedback method to identify
the unknown unbalance parameters of a Jeffcott rotor based on a dynamic robust control
technique, in which the disturbance forces are estimated and then, from these forces, the
magnitude and phase of the unbalance are obtained. This strategy is proved by numerical
simulations and the rotational speed of the machine has to satisfy the persistency of
excitation condition in order to guarantee the convergence of the method. Using curve
tting techniques and optimization procedures based on least-squares methods, Mahfoud
et al. (2009) proposed a method to identify the matrices of a rotordynamic model expressed
in state variables, measuring the full state vector (displacement, speed and acceleration) in
three steps. The impulse response for a null rotational speed is used to identify the speed
non-dependent matrix, the control matrix is identied using the steady-state response and
the dependent dynamic matrix is calculated from the permanent time response of the system
at an operational speed. Finally, the external forces can be found proposing an inverse
problem from the model with the three matrices previously determined. Recently, some
results in this issue have been published in specialized literature, Sudhakar and Sekhar
(2011) estimated the unbalance faults in a Jeffcott-like rotor system with fault identication
approach, obtaining good results in both numerical and experimental ways, showing the
need of new methods and techniques to solve the unbalance forces estimation problem.
The developments in the elds of electronics, computing and control systems have changed
the approach to reduce the level of vibration amplitudes in mechanical systems. In the
traditional approach, changes in stiffness or damping system parameters cause changes in the
dynamic system behavior. Nowadays, control systems can adapt dynamically these stiffness
or damping parameters depending on the requirements or apply force directly to reduce the
vibration effects. This trend is increasingly applied in rotating machinery and other elds
of structural mechanics [11]. For control purposes, many passive, semi-active and active
devices have been proposed [31]. Active Magnetic Bearings (AMB) have found an important
eld of application in rotor systems because the advantages over other devices. The absence
of contact between an AMB and rotor avoids wearing and the need of lubrication, in addition,
AMB dynamics is relatively easy to control [21]. For this, many researchers have reported
results about showing the viability for AMB application in vibration control of rotating
machinery since the 1990s [16, 26] until recent days [1, 13, 20, 28]. Piezoelectric actuators are
other devices with an increasing application in rotor systems, they represent an alternative
Advances in Vibration Engineering and Structural Dynamics 30
Estimation and Active Damping of Unbalance Forces in Jeffcott-Like Rotor-Bearing Systems 3
because their main characteristics: very precise movement, compact, high force, low energy
consumption, quick response time, no electromagnetic interference. Some researchers have
presented numerical and experimental results in the active control of unbalance response in
rotors using piezoelectric actuators showing that it is possible to control vibration amplitudes
by these devices [15, 17, 22]. Finally, another alternative to vibration control in rotor systems
are the semi-active devices. A semi-active vibration control system replaces the actuators
to apply directly force for devices which can change the stiffness and/or damping system
parameters. Due to their low energy consumption, their application in theoretical and
practical issues in mechanical systems tends to increase in the last years. Magnetorheological
dampers represent the most used semi-active device in rotor systems [3, 9, 12].
Generally, a control scheme to vibration attenuation is designed using a system model,
so that it is very important that the model represents to the real system behavior with
good accuracy. As we mentioned above, in the models used to describe the dynamic
behavior of rotor systems, the amount and location of unbalance are some of the most
difcult parameters to be measured and, therefore, estimation techniques are needed to
establish these and other parameters to get the required accuracy in the model. Observers
(or estimators) can be designed, from measurements of the input and of the response of
the system to provide an approximation of system states or disturbances that can not be
directly measured [14]. Observers can be considered as subsystems that combine sensed
signals with other knowledge of the control system to produce estimated signals and offer
important advantages: they can remove sensors, which reduces cost and improves reliability,
and improve the quality of signals that come from the sensors, allowing performance
enhancement. However, observers have disadvantages: they can be complicated to
implement and they expend computational resources. Also, because observers form software
control loops, they can become unstable under certain conditions. Observers can also provide
observed disturbance signals, which can be used to improve disturbance response. In spite
of observers add complexity to the system and require computational resources, an observer
applied with skill can bring substantial performance benets and do so, in many cases, while
reducing cost or increasing reliability [6].
This chapter deals with the active control problem of unbalance-induced synchronous
vibrations in variable-speed Jeffcott-like non-isotropic rotor-bearing systems using only
measurements of the radial displacement close to the disk. In this study, the rotor-bearing
system is supported by a conventional bearing at its left end and by an active control
device at the right one, which is used to provide the control forces. A robust and efcient
active unbalance control scheme based on on-line compensation of rotor unbalance-induced
perturbation force signals is proposed to suppress the undesirable vibrations affecting the
rotor-bearing system dynamics. The methodology presented by Sira-Ramirez et al. (2008) is
applied to design a Luenberger linear state observer to estimate the unbalance force signals
and velocities of the coordinates of the rotor center, which are required to implement the
proposed control scheme. The designed state observer is called the Generalized Proportional
Integral (GPI) observer because its design approach is the dual counterpart of the so-called
GPI controller [7]. A state-space based extended linear mathematical model is developed to
locally describe the dynamics of the perturbed rotor-bearing system for design purposes of
the disturbance observer. The modelling approach of disturbance signals through a family
of Taylor time-polynomials of fourth degree described in [23] is used to locally reconstruct
such unknown signals. A similar approach to reconstruct disturbance signals based also
Estimation and Active Damping of Unbalance Forces in Jeffcott-Like Rotor-Bearing Systems
31
4 Vibration Control
on its Taylor time-polynomial expansion has been previously proposed by Sira-Ramirez et
al. (2007) using the on-line algebraic parameter identication methodology described in [8].
Additionally, a Proportional-Integral (PI) control law is designed to perform robust tracking
tasks of smooth rotor speed reference proles described by Bzier interpolation polynomials.
Simulation results are provided to show the efcient and robust performance of the active
vibration control scheme, estimation of the unbalance forces and rotor speed controller for
the tracking of a speed reference prole that takes the rotor system from a rest initial speed
to an operation speed above its rst critical speeds.
2. Rotor system model
The rotor system in a Jeffcott conguration is shown in Fig. 1. The rotor is supported by a
conventional bearing at its left end and by an active suspension at the right one.
Disk
Bearing
Active
Suspension
DC Motor
Figure 1. Jeffcott like rotor system with active suspension.

In this study, the active suspension presented by Arias-Montiel and Silva-Navarro (2010b)
is considered. This control device is based on two linear electromechanical actuators and
helicoidal compression springs. Electromechanical actuators provide the control forces in
two perpendicular directions in order to compensate actively the unbalance effects and to
get reductions in vibration amplitudes. The active suspension is depicted in Fig. 2.
Electromechanical
actuators
Helicoidal compression
springs
Figure 2. Active suspension with linear actuators.
The Jeffcott like rotor system consists of a disk with mass m mounted at the mid span of a
exible shaft. In Fig. 1, x and y denote the orthogonal coordinates of rotor geometric center,
u is the distance between the gravity center G and the geometric center S, which is known
as rotor eccentricity. Moreover, k
x
, k
y
, c
x
and c
y
are the shaft stiffness and viscous damping
coefcients in x and y directions, respectively, and are the angular displacement and
velocity, respectively, J is the polar moment of inertia of the rotor, c
is the rotational viscous

damping coefcient and is the control torque to smoothly regulate the rotor speed through
an traditional PID driver. Considering u
x
and u
y
as the radial control forces provided by the
active suspension used to compensate the unbalance effects on the rotor in each movement
plane and as the control torque provided by the motor, the rotor system model can be
obtained by Euler-Lagrange formulation. Dening the coordinates of rotor gravity center x
G
and y
G
as
x
G
= x +u cos ( + )
y
G
= y +u sin ( + ) (1)
and their time derivatives
x
G
= x u

(sin + )
y
G
= y +u

(cos + ) (2)
We can obtain the system kinetic energy as
T =
1
2
m x
2
G
+
1
2
m y
2
G
+
1
2
J

2
(3)
and the potential energy as
V =
1
2
k
x
x
2
+
1
2
k
y
y
2
(4)
So, the system Lagrangian is given by
L = T V =
1
2
m x
2
G
+
1
2
m y
2
G
+
1
2
J

1
2
k
x
x
2
1
2
k
y
y
2
(5)
and proposing the dissipation function of Rayleigh of the form
D =
1
2
c
x
x
2
+
1
2
c
y
y
2
+
1
2
c
2
(6)
Then, considering

= the dynamics equations for the system can be achieved from
33
6 Vibration Control
d
dt
L
x
L
x
+
D
x
= u
x
d
dt
L
y
L
y
+
D
y
= u
y
d
dt
+
D
= (7)
From equations (7), one obtains
m x + c
x
x + k
x
x m
2
u cos ( + ) m u sin ( + ) = u
x
m y + c
y
y + k
y
y m
2
u sin ( + ) + m u cos ( + ) = u
y
(J + mu
2
) + c
m xu sin ( + ) + m yu cos ( + ) = (8)

and rewriting these last equations
m x + c
x
x + k
x
x = u
x
+
x
m y + c
y
y + k
y
y = u
y
+
y
J
e
+ c
= +
w
= (9)
with
x
= mu
sin ( + ) +
2
cos ( + )
y
= mu
cos ( + ) +
2
sin ( + )
w
= mu [ x sin ( + ) y cos ( + )]
J
e
= J + mu
2
(10)
In the above,
x
,
y
and
w
are the centrifugal forces and perturbation torque, respectively,
induced by the rotor unbalance.
Dening the state space variables as z
1
= x, z
2
= x, z
3
= y, z
4
= y, z
5
= , z
6
= , the
generalized forces as u
1
= u
x
, u
2
= u
y
and u
3
= and the total unbalance amplitude y
u
as
system output, one obtains the following state-space description of system (8):
z
1
= z
2
z
2
=
1
f
1
+
1
g
1
z
3
= z
4
z
4
=
1
f
2
+
1
g
2
z
5
= z
6
z
6
=
1
f
3
+
1
g
3
y
u
=
z
2
1
+ z
2
3
(11)
where
f
1
= k
x
1
m

u
2
J
e
cos
2
(z
5
+ )
z
1
c
x
1
m

u
2
J
e
cos
2
(z
5
+ )
z
2
+
u
2
k
y
J
e
cos (z
5
+ ) sin (z
5
+ ) z
3
+
c
y
u
2
J
e
cos (z
5
+ ) sin (z
5
+ ) z
4
u
J
e
z
6
sin (z
5
+ )
+
mu
1
m

u
2
J
e
cos
2
(z
5
+ )
cos (z
5
+ )
mu
3
J
e
cos (z
5
+ ) sin
2
(z
5
+ )
z
2
6
g
1
=
1
m

u
2
J
e
cos
2
(z
5
+ )
u
x
u
2
J
e
cos (z
5
+ ) sin
2
(z
5
+ ) u
y
+
u
J
e
sin (z
5
+ )
f
2
=
u
2
k
x
J
e
cos (z
5
+ ) sin (z
5
+ ) z
1
+
c
x
u
2
J
e
cos (z
5
+ ) sin (z
5
+ ) z
2
k
y
1
m

u
2
J
e
sin
2
(z
5
+ )
z
3
c
y
1
m

u
2
J
e
sin
2
(z
5
+ )
z
4
+
c
u
J
e
z
6
cos (z
5
+ ) + mu
1
m

u
2
J
e
sin
2
(z
5
+ )
sin (z
5
+ ) z
2
6
mu
3
J
e
cos
2
(z
5
+ ) sin (z
5
+ ) z
2
6
35
8 Vibration Control
g
2
=
u
2
J
e
cos (z
5
+ ) sin (z
5
+ ) u
x
+
1
m

u
2
J
e
sin
2
(z
5
+ )
u
y
u
J
e
cos (z
5
+ )
f
3
=
uk
x
J
e
sin (z
5
+ ) z
1
c
x
u
J
e
sin (z
5
+ ) z
2
+
uk
y
J
e
cos (z
5
+ ) z
3
+
c
y
u
J
e
cos (z
5
+ ) z
4
J
e
z
6
g
3
=
u
J
e
sin (z
5
+ ) u
x
u
J
e
cos (z
5
+ ) u
y
+

J
e
=
1
J
e
J
e
mu
2
3. Active unbalance control

For the design of the active unbalance control scheme proposed in this chapter, consider
the nonlinear ordinary differential equations that describe the dynamics of the rotor center,
where only the position coordinates are available for measurement
m x + c
x
x + k
x
x = u
x
+
x
m y + c
y
y + k
y
y = u
y
+
y
(12)
where
x
= mu
sin ( + ) +
2
cos ( + )
y
= mu
cos ( + ) +
2
sin ( + )
(13)
In our design approach, the unbalance forces
x
and
y
will be considered as unknown
disturbance signals.
For the active unbalance suppression, Proportional-Derivative (PD) controllers with
compensation of the rotor unbalance-induced disturbance signals are proposed
u
x
=
1,x
x
0,x
x
x
(t)
u
y
=
1,y
y
0,y
y
y
(t) (14)
where

x
(t) and

y
(t) are estimated perturbation signals of the actual time-varying unbalance
forces
x
(t) and
y
(t), respectively, and

x and

y are estimates of the velocities of the rotor
center in x and y directions, respectively.
In this chapter, an on-line estimation approach based on Luenberger linear estate observers
is proposed to estimate the disturbance and velocity signals, using measurements of the
rotor center coordinates (x, y), which could be obtained employing proximity sensors or
accelerometers in practical applications. A state-space based extended linear mathematical
model will be developed to locally describe the dynamics of the perturbed rotor-bearing
system for design purposes of the disturbance observer. A family of Taylor time polynomials
of fourth degree will be used to locally describe the unknown disturbance signals.
The use of the controllers (14) in the rotor-bearing system (12) yields the following
closed-loop dynamics for the rotor center coordinates
x +
1
m
(c
x
+
1,x
) x +
1
m
(k
x
+
0,x
) x = 0
y +
1
m
c
y
+
1,y
y +
1
m
k
y
+
0,y
y = 0 (15)
whose characteristic polynomials are given by
p
x
(s) = s
2
+
1
m
(c
x
+
1,x
) s +
1
m
(k
x
+
0,x
)
p
y
(s) = s
2
+
1
m
c
y
+
1,y
s +
1
m
k
y
+
0,y
(16)
Therefore, by selecting the controller gains
i,j
, i = 0, 1, j = x, y, so that the characteristic
polynomials (16) be Hurwitz, one can guarantee that the dynamics of the rotor center
coordinates be globally asymptotically stable, i.e., lim
t
x (t) = 0 and lim
t
y (t) = 0.
It can be observed that a consequence of the unbalance cancellation is that the rotor
unbalance-induced perturbation torque signal
affecting additively the rotor velocity

dynamics is also suppressed, i.e., lim
t
(t) = 0.
37
10 Vibration Control
For the closed-loop dynamics of the coordinates of the rotor center, the following reference
system is proposed
x + 2
x
nx
x +
2
nx
x = 0
y + 2
x
nx
y +
2
nx
y = 0 (17)
where
i
,
ni
> 0, i = x, y, are the viscous damping ratios and natural frequencies for the
rotor center dynamics. Then, the gains of the controllers (14) are calculated as
1,x
= 2m
x
nx
c
x
1,y
= 2m
y
ny
c
y
0,x
= m
2
nx
k
x
0,y
= m
2
ny
k
y
Otherwise, a Proportional-Integral (PI) control law is proposed for tracking tasks of an
angular speed prole
(t) specied for the rotor system

= J
e
v + c
v =
(t)
1,
[
(t)]
0,
t
0
[
(t)] dt (18)
By replacing the control law (18) into the rotor-bearing system (9), it is obtained the
homogenous differential equation that describes the dynamics of the angular speed tracking
error e
(t), under the assumption that the unbalance was canceled by the action
of the PD control forces (14),
e
+
1,
e
+
0,
e
= 0 (19)
Then, the asymptotic convergence of the tracking error e
to zero can be achieved selecting

the design parameters
0,
and
1,
such as the characteristic polynomial associated to
tracking error dynamics in closed loop (19) given by
p
(s) = s
2
+
1,
s +
0,
(20)
be a Hurwitz polynomial. In this case, the asymptotic tracking of the specied angular speed
prole can be veried, i.e.,
lim
t
e
(t) = 0 lim
t
(t) =
(t)
In this chapter, the following Hurwitz polynomial is proposed for the closed-loop rotor
angular speed dynamics
p
d
(s) = s
2
+ 2
r
nr
s +
2
nr
(21)
where
r
and
nr
> 0 are the viscous damping ratio and natural frequency for rotor angular
speed dynamics. Then, the gains of the controller (18) are calculated as
0,
=
2
nr
1,
= 2
r
nr
4. Asymptotic estimation of unbalance forces
In the design process of the disturbance observer, it is assumed that the perturbation
force signals
x
and
y
can be locally approximated by a family of fourth degree Taylor
time-polynomials [23]:
i
(t) =
4
j=0
p
j,i
t
j
, i = x, y (22)
where the coefcients p
j,i
are completely unknown.
The perturbation signals can then be locally described by the following state-space based
linear mathematical model:
1,i
=
2,i
2,i
=
3,i
3,i
=
4,i
4,i
=
5,i
5,i
= 0 (23)
39
where
1,i
=
i
,
2,i
=

i
,
3,i
=

i
,
4,i
=
(3)
i
,
5,i
=
(4)
i
, i = x, y.
Therefore, an extended state space model for the perturbed rotor center dynamics is given
by

1,i
=
2,i

2,i
=
k
i
m
1,i

c
i
m
2,i
+
1
m
u
i
+
1
m
1,i
1,i
=
2,i
2,i
=
3,i
3,i
=
4,i
4,i
=
5,i
5,i
= 0 (24)
where
1,i
= i,
2,i
=
1,i
, i = x, y.
From system (24), the following Luenberger linear state observer is proposed to estimate the
disturbance and rotor center velocity signals

1,i
=
2,i
+
6,i
1,i

1,i

2,i
=
k
i
m

1,i

c
i
m

2,i
+
1
m
u
i
+
1
m
1,i
+
5,i
1,i

1,i
1,i
=

2,i
+
4,i
1,i

1,i
2,i
=

3,i
+
3,i
1,i

1,i
3,i
=

4,i
+
2,i
1,i

1,i
4,i
=

5,i
+
1,i
1,i

1,i
5,i
=
0,i
1,i

1,i
(25)
The dynamics of the estimation errors, e
1,i
=
1,i

1,i
, e
2,i
=
2,i

2,i
, e
p
k
,i
=
k,i

k,i
,
k = 1, 2, , 5, i = x, y, are then given by
e
1,i
=
6,i
e
1,i
+ e
2,i
e
2,i
=
5,i
e
1,i

k
i
m
e
1,i

c
i
m
e
2,i
+
1
m
e
p
1
,i
e
p
1
,i
=
4,i
e
1,i
+ e
p
2
,i
e
p
2
,i
=
3,i
e
1,i
+ e
p
3
,i
e
p
3
,i
=
2,i
e
1,i
+ e
p
4
,i
e
p
4
,i
=
1,i
e
1,i
+ e
p
5
,i
e
p
5
,i
=
0,i
e
1,i
(26)
Thus, the characteristic polynomials of the dynamics of the observation errors (26) are
p
o,i
(s) = s
7
+
6,i
+
c
i
m
s
6
+
5,i
+
k
i
m
+
c
i
m

6,i
s
5
+
1
m

4,i
s
4
+
1
m

3,i
s
3
+
1
m

2,i
s
2
+
1
m

1,i
s +
1
m

0,i
(27)
which are completely independents of any coefcients p
j,i
of the Taylor polynomial
expansions of disturbance signals
i
(t).
The design parameter for the state observer (25) are selected so that the characteristic
polynomials (27) be Hurwitz polynomials. Particularly, these polynomials are proposed of
the form
p
o,i
(s) =
s + p
o,i
s
2
+ 2
o,i
o,i
s +
2
o,i
3
, i = x, y. (28)
with p
o,i
,
o,i
,
o,i
> 0.
Equating term by term the coefcients of both polynomials (28) and (27 ), one obtains that
0,i
= m
6
o,i
p
o,i
1,i
= m
6
o,i
+ 6
o,i
p
o,i
5
o,i
2,i
= m
6
5
o,i
o,i
+ 12p
o,i
4
o,i
2
o,i
+ 3p
o,i
4
o,i
3,i
= m
12
4
o,i
2
o,i
+ 3
4
o,i
+ 8p
o,i
3
o,i
3
o,i
+ 12p
o,i
3
o,i
o,i
4,i
= m
8
3
o,i
3
o,i
+ 12
3
o,i
o,i
+ 12p
o,i
2
o,i
2
o,i
+ 3p
o,i
2
o,i
5,i
= 12
2
o,i
2
o,i
+ 3
2
o,i
+ 6p
o,i
o,i
o,i

c
i
m

6,i

k
i
m
6,i
= p
o,i
+ 6
o,i
o,i

c
i
m
5. Simulation results
In order to verify the dynamic behavior of the rotor speed controller, active unbalance control
scheme and estimation of the unbalance forces, some numerical simulations were carried out
using the numerical parameters shown in Table 1.
The performance of the rotor speed controller (18) was evaluated for the tracking of the
smooth speed reference prole
(t) shown in Fig. 3, which allows to take the rotor from

41
m = 3.85 kg c
y
= 14 N s/m u = 222 m
k
x
= 1.9276 10
5
N/m d = 0.020 m =

4
rad
c
x
= 12 N s/m r
disk
= 0.076 m c
= 1.5 10
3
Nm s/rad
k
y
= 2.0507 10
5
N/m l = 0.7293 m
Table 1. Rotor System Parameters.
an initial speed
1
for t T
1
to the desired nal operation speed
2
for t T
2
. In general,
the unbalance response has more interest when the rotor is running above its rst critical
speeds
cr1x
=
k
x
/m = 223.76 rad/s = 2136.8 rpm and
cr1y
=
k
y
/m = 230.79 rad/s =
2203.9 rpm.
The speed prole specied for the rotor system is described by
(t) =

1
for 0 t < T
1

1
+ (
2

1
) (t, T
1
, T
2
) for T
1
t T
2

2
for t > T
2
(29)
where
1
= 0 rad/s,
2
= 300 rad/s = 2864.8 rpm, T
1
= 0 s, T
2
= 10 s and (t, T
1
, T
2
) is a
Bzier polynomial dened as
(t) =
t T
1
T
2
T
1
r
1
r
2
t T
1
T
2
T
1
+r
3
t T
1
T
2
T
1
2
... r
6
t T
1
T
2
T
1
with constants r
1
= 252, r
2
= 1050, r
3
= 1800, r
4
= 1575, r
5
= 700 and r
6
= 126.
0 2 4 6 8 10 12
0
100
200
300
(
t
)
[
r
a
d
/
s
]
0 2 4 6 8 10 12
0
20
40
60
80
t [s]
(
t
)
[
r
a
d
/
s
2
]
Figure 3. Smooth reference proles for the rotor speed and acceleration,
(t) and
(t).
In Fig. 4 the robust and efcient performance of the PI speed controller (18) is shown. Here,
the active unbalance control scheme (14) is not performed, i.e., u
x
= u
y
0. Therefore, some
irregularities of the control torque action can be observed when the rotor passes through its
rst critical speeds. Fortunately, the presented speed controller results quite robust against
the bounded torque perturbation input signal
w
induced by the rotor unbalance.
It is important to note that the control gains were selected to get a closed-loop rotor speed
dynamics having a Hurwitz characteristic polynomial:
P
(s) = s
2
+2
r
nr
s +
2
nr
with
nr
= 15 rad/s and
r
= 0.7071.
0 2 4 6 8 10 12
0
100
200
300
[
r
a
d
/
s
]
0 2 4 6 8 10 12
0.4
0.2
0
0.2
0.4
w
[
N
m
]
0 2 4 6 8 10 12
0
0.5
1
1.5
t[s]
[
N
m
]
Figure 4. Rotor system response using local PI speed controller without active unbalance control.
Fig. 5 depicts the open-loop rotor unbalance response while the rotor is taken from the rest
initial speed (
1
= 0 rad/s) to the operating speed (
2
= 300 rad/s) above its rst critical
speeds by using the PI rotor speed controller (18). The presence of high vibration amplitude
levels (above 9 mm) at the resonant peaks can be observed. Note in Fig. 6 that the centrifugal
forces induced by the rotor unbalance are quite signicant. Thus, the active rotor balancing
controllers (14) should be actively compensate those perturbation forces in real time.
On the other hand, Figs. 7-9 depict the closed-loop rotor-bearing system response by
using simultaneously the disturbance observer-based active unbalance control scheme (14),
PI rotor speed controller (18) and disturbance observer (25). One can see in Fig. 7 the
robust performance of the PI speed controller (18), achieving an effective tracking of the
smooth speed reference prole (29). Since the rotor unbalance-induced torque perturbation
input signal
w
is canceled by the active balancing controllers (14), a smooth curve of the
control torque is accomplished, eliminating the irregularities presented in the control torque
response without active unbalance control (4).
43
0 2 4 6 8 10 12
0.01
0.005
0
0.005
0.01
x
[
m
]
0 2 4 6 8 10 12
0.01
0.005
0
0.005
0.01
y
[
m
]
0 2 4 6 8 10 12
0
0.005
0.01
t [s]
y
u
[
m
]
Figure 5. Open-loop rotor unbalance response with local PI rotor speed controller.
0 2 4 6 8 10 12
100
50
0
50
100
x
[
N
]
0 2 4 6 8 10 12
100
50
0
50
100
t [s]
y
[
N
]
Figure 6. Rotor unbalance forces without active unbalance control.
The closed-loop rotor unbalance response is described in Fig. 8. The active unbalance
suppression can be clearly noted. In this case, the gains of the active unbalance controllers
were selected to get a closed-loop system dynamics having the Hurwitz characteristic
polynomials:
P
x
(s) = s
2
+ 2
x
nx
s +
2
nx
P
y
(s) = s
2
+ 2
y
ny
s +
2
ny
with
nx
=
ny
= 10 rad/s and
x
=
x
= 0.7071.
Fig. (9) describes the active vibration control scheme response, which applies the active
compensation of the estimated unbalance force signals

x
and

y
shown in Fig. (10).
The characteristic polynomials, assigned to the observation error dynamics, must be faster
than the rotordynamics and, therefore, are specied as
P
o,i
(s) =
s + p
o,i
s
2
+2
o,i
o,i
s +
2
o,i
3
, i = x, y.
with desired parameters p
o,i
=
o,i
= 1200 rad/s and
o,i
= 100.
0 2 4 6 8 10 12
0
100
200
300
[
r
a
d
/
s
]
0 2 4 6 8 10 12
0.4
0.2
0
0.2
0.4
w
[
N
m
]

0 2 4 6 8 10 12
0
0.5
1
1.5
t [s]
[
N
m
]
Figure 7. Rotor system response using local PI speed controller with active unbalance control.
0 2 4 6 8 10 12
0.01
0.005
0
0.005
0.01
x
[
m
]
0 2 4 6 8 10 12
0.01
0.005
0
0.005
0.01
y
[
m
]
0 2 4 6 8 10 12
0
0.005
0.01
t [s]
y
u
[
m
]
Figure 8. Closed-loop rotor unbalance response with local PI rotor speed controller.
45
0 2 4 6 8 10 12
100
50
0
50
100
u
x
[
N
]
0 2 4 6 8 10 12
100
50
0
50
100
t [s]
u
y
[
N
]
Figure 9. Response of active unbalance Controllers.
0 2 4 6 8 10 12
100
50
0
50
100
x
[
N
]
0 2 4 6 8 10 12
100
50
0
50
100
t [s]
y
[
N
]
Figure 10. Estimates of the closed-loop rotor unbalance force signals using disturbance observer (25).
6. Conclusions
In this chapter, we have proposed a PD-like active vibration control scheme for robust
and efcient suppression of unbalance-induced synchronous vibrations in variable-speed
Jeffcott-like non-isotropic rotor-bearing systems of three degrees of freedom using only
measurements of the radial displacement close to the disk. In this study, we have
considered the application of an active suspension device, which is based on two linear
electromechanical actuators and helicoidal compression springs, to provide the control forces
required for on-line balance of the rotor system. The presented control approach is mainly
based on the compensation of bounded perturbation force signals induced by the rotor
unbalance, and the specication of the desired closed-loop rotor-bearing system dynamics
(viscous damping ratios and natural frequencies). A robust and fast estimation scheme of the
perturbation force signals and velocities of the rotor center coordinates based on Luenberger
linear state observers has also been proposed. In the state observer design process, the
perturbation force signals were locally approximated by a family of Taylor time-polynomials
of fourth degree. Therefore, each perturbation signal was locally described by a state
space-based linear mathematical model of fth order. Then, an extended lineal mathematical
model was obtained to locally describe the dynamics of the perturbed rotor system to be
used in the design of the disturbance and state observer. In addition, a PI rotor speed
controller was proposed to perform robust tracking tasks of smooth rotor speed reference
proles described by Bzier interpolation polynomials. Simulations results show the robust
and efcient performance of the active vibration control scheme and rotor speed controller
proposed in this chapter, as well as the fast and effective estimation of the perturbation force
signals, when the rotor system is taken from a rest initial speed to an operation speed above
its rst critical velocities. The proposed methodology can be applied for more complex and
realistic rotor-bearing systems (e.g., more disks, turbines, shaft geometries), nite element
models, monitoring and fault diagnosis quite common in industrial rotating machinery.
Author details
Francisco Beltran-Carbajal
1
,
Gerardo Silva-Navarro
2
and Manuel Arias-Montiel
3
1 Universidad Autonoma Metropolitana, Unidad Azcapotzalco, Departamento de Energia,
Mexico, D.F., Mexico
2 Centro de Investigacion y de Estudios Avanzados del I.P.N., Departamento de Ingenieria
Electrica, Seccion de Mecatronica, Mexico, D.F., Mexico
3 Universidad Tecnologica de la Mixteca, Instituto de Electronica y Mecatronica, Huajuapan
de Leon, Oaxaca, Mexico
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49

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Chapter 2

Estimation and Active Damping of Unbalance Forces in

Figure 1. Jeffcott like rotor system with active suspension.

is the rotational viscous

m xu sin ( + ) + m yu cos ( + ) = (8)

3. Active unbalance control

affecting additively the rotor velocity

(t) specied for the rotor system

to zero can be achieved selecting

(t) shown in Fig. 3, which allows to take the rotor from

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