Parallel Disturbance Force Compensator for Electrical Machines

The objective of the research is to diminish unwanted forces generated by rotation and unbalanced rotor mass on the rotor of an electrical machine. These forces, dependent on rotational speed, cause vibration that, when occurring in the machine’s natural frequency, causes severe problems. Extra windings are built in the stator of the machine, and they are supplied with current to create an opposite force to the vibration. The main task is to develop a new controller to the system, in order to continuously provide the needed voltage input to the new actuator. The system was first modeled for finite element model (FEM) software, and based on FEM simulations a simplified state-space model was identified. Separate models for the rotor mechanics and for the actuator were created for convenience. Input to the actuator model was voltage given by the controller, and the output was the compensating force to the rotor. The rotor model mapped total input force of rotor to displacement, vibration. There was an internal feedback from rotor displacement to actuator, which was taken into account in the actuator model. Because the source of vibration is well known, the problem was attacked at the very source. A compensator was designed for balancing the forces in the rotor. The forces were not measured and remained thus unknown, but they could be estimated. The adaptive compensator was designed so that other controllers can be used parallel, without having to make any changes to the compensator.