Precision Tracking of a Rotating Shaft With Magnetic Bearings by Nonlinear Decoupled Disturbance Observers
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Bibliographic record
Abstract
Static offset and synchronous vibration are obstacles to precision tracking of a rotating shaft supported by active magnetic bearings (AMBs). A constant and harmonic disturbance observer is an effective approach to estimate and suppress these undesired effects. A disturbance observer is particularly well-suited for tracking applications since it can directly compensate for AMB force nonlinearity. In this paper, we propose a nonlinear reduced-order disturbance observer which is incorporated into a flatness-based tracking control. Since a reduced-order approach requires knowledge of velocity, we design an inner-loop velocity observer which can achieve convergence at a faster rate than the disturbance observer. This hierarchical observer simplifies the control because disturbance estimates are decoupled for each degree of freedom (DOF) and disturbance compensation is modularized. Experimental results on a commercially available 5-DOF system demonstrate accurate position tracking over the bearing air gap for a wide range of shaft velocities.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it