Magnetic bearings are used to keep objects in certain position via magnetic force. There is no creation of friction, because there is no touch. It is necessary to supply magnetic bearings with electric energy. Linear transistor amplifiers or switched-mode amplifiers can be used to supply them with electric energy.

Die Auslegung von Magnetlagern erfolgt in der Regel durch Fachpersonal in einem iterativen zeitaufwendigen Prozess. Dies stellt einen großen Kostenfaktor bei der Entwicklung magnetgelagerter Maschinen oder der Umrüstung konventionell gelagerter Maschinen dar. Aus diesem Grund wurde ein Softwarewerkzeug entwickelt, welches eine automatisierte, optimale Auslegung von Magnetlagern auf Basis der Particle-Swarm-Optimization ermöglicht. Dabei wurden auch Temperatureinflüsse berücksichtigt, sodass eine Auslegung von Magnetlagern für erweiterte Temperaturbereiche möglich ist (Hochtemperatur-Magnetlager). / The design of magnetic bearings is usually carried out by specialist personnel in an iterative time-consuming process. This represents a major cost factor in the development of machines with magnetic bearings or the retrofitting of machines with conventional bearings. For this reason, a software tool was developed that enables an automated, optimal design of magnetic bearings based on Particle-Swarm Optimization. Temperature influences were also taken into account, so that a design of magnetic bearings for extended temperature ranges is possible (high-temperature magnetic bearings).

Das Prinzip eines Schwungmasseenergiespeichers (kurz SMS), d. h. kinetische Energie in rotierenden Massen zu speichern, ist bekannt. In den letzten Jahren haben SMS durch ihre Eigenschaft, große Leistungen bei hohen Zyklenzahlen aufzunehmen/abzugeben, an Attraktivität gewonnen. Durch Neu- und Weiterentwicklungen auf den Gebieten der Leistungselektronik, bei der Herstellung hochfester Werkstoffe wie kohlenstofffaserverstärkte Kunststoffe (kurz CFK, von: carbonfaserverstärkter Kunststoff) für Rotor und Schwungmasse und in der Lagertechnik sind energieeffiziente und sichere SMS bis zu 150 kWh machbar. Mit einem Leistungsband von 0,5-50 MW eignet sich die SMS-Technologie zur Stabilisierung von Verbundnetzen. Dieser Beitrag gibt einen generischen Einblick in die ingenieurwissenschaftlichen Arbeiten an einer Hochgeschwindigkeitsschwungmasse. Dazu wird die strategische Herangehensweise vorgestellt. Die Herausforderungen bei der Gestaltung der hybriden Metall-CFK-Strukturen des Laufzeugs werden vertieft. / The principle of a flywheel storage system (FSS for short), i.e., to store kinetic energy in rotating masses, is well described. In recent years, FSS have become more attractive due to their ability to receive/deliver large power at high cycle rates. Due to new and further developments in the fields of power electronics, in the production of high-strength materials such as carbon fiber reinforced plastics (short CFRP) for rotor and flywheel and in bearing technology, energy-efficient and safe FSS up to 150 kWh are possible. With a power range of 0.5-50 MW, FSS technology is suitable for stabilizing interconnected power grids. This paper gives a generic insight with respect to the engineering work on a high-speed flywheel. The strategic approach is presented. The design challenges regarding the hybrid metal-CFRP structures of the rotating assembly are deepened.

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The goal of this dissertation is to evaluate the effectiveness of model predictive control (MPC) for a magnetically suspended flywheel energy storage uninterruptible power supply (FlyUPS). The reason this research topic was selected was to determine if an advanced control technique such as MPC could perform better than a classical control approach such as decentralised Proportional-plus-Differential (PD) control. Based on a literature study of the FlyUPS system and the MPC strategies available, two MPC strategies were used to design two possible MPC controllers were designed for the FlyUPS, namely a classical MPC algorithm that incorporates optimisation techniques and the MPC algorithm used in the MATLAB® MPC toolbox™. In order to take the restrictions of the system into consideration, the model used to derive the controllers was reduced to an order of ten according to the Hankel singular value decomposition of the model. Simulation results indicated that the first controller based on a classical MPC algorithm and optimisation techniques was not verified as a viable control strategy to be implemented on the physical FlyUPS system due to difficulties obtaining the desired response. The second controller derived using the MATLAB® MPC toolbox™ was verified to be a viable control strategy for the FlyUPS by delivering good performance in simulation. The verified MPC controller was then implemented on the FlyUPS. This implementation was then analysed in order to validate that the controller operates as expected through a comparison of the simulation and implementation results. Further analysis was then done by comparing the performance of MPC with decentralised PD control in order to determine the advantages and limitations of using MPC on the FlyUPS. The advantages indicated by the evaluation include the simplicity of the design of the controller that follows directly from the specifications of the system and the dynamics of the system, and the good performance of the controller within the parameters of the controller design. The limitations identified during this evaluation include the high computational load that requires a relatively long execution time, and the inability of the MPC controller to adapt to unmodelled system dynamics. Based on this evaluation MPC can be seen as a viable control strategy for the FlyUPS, however more research is needed to optimise the MPC approach to yield significant advantages over other control techniques such as decentralised PD control. / Thesis (MIng (Computer and Electronic Engineering))--North-West University, Potchefstroom Campus, 2013

Este trabalho se insere no contexto de redução de vibrações de rotores via mancais ativos. Essas vibrações são causadas pelo desbalanço do próprio rotor e possuem frequência igual à frequência de rotação desse rotor. O desbalanço pode ser modelado como uma força de perturbação girante, sendo que uma técnica bastante conhecida para anular o efeito dessa perturbação é o balanceamento eletrônico, também chamado de compensação síncrona de desbalanço ou de regulação sincronizada. A presente dissertação traz duas contribuições para o tema. A primeira é a simplificação do compensador síncrono através de considerações de simetria do rotor e de isotropia dos mancais, e a segunda é a obtenção do modelo exato do sistema discreto resultante da aplicação da metodologia de compensação síncrona. Tais contribuições se valem da descrição do modelo em coordenadas complexas. À transformação de coordenadas reais para coordenadas complexas deu-se o nome de complexificação. Assim sendo, a complexificação do modelo permite dividir por dois a dimensão das variáveis do sistema (estados, entradas e saídas), além de dar sentido físico à separação entre os distúrbios diretos (caso do desbalanço) e os distúrbios retrógrados. Essa complexificação reduz o tempo de identificação da matriz de influência feita no balanceamento eletrônico, e o modelo complexificado obtido através das hipóteses de simetria e isotropia permite desacoplar completamente a compensação das perturbações diretas da compensação das perturbações retrógradas. / This work is inserted in the context of active attenuation of rotor vibrations. These vibrations are caused by the rotor\'s own unbalance and have a frequency equal to the rotor\'s rotation frequency. The unbalance can be modeled as a rotating disturbance force, and a well-known technique for cancelling the effect of such a disturbance is the so-called active balancing, also known as synchronous unbalance compensation or synchronized regulation. The present dissertation brings two contributions to the theme. The first one is the simplification of the synchronous compensator through considerations of rotor symmetry and bearing isotropy, and the second one is to obtain the exact model of the discrete system resulting from the application of the synchronous compensation methodology. These contributions make use of the model described in complex coordinates. The transformation from real coordinates to complex coordinates is defined as a complexification. Thus, the complexification of the model allows the division in half of the dimension of the system variables (states, inputs and outputs), as well as giving a physical sense to the separation between forward disturbances (case of the rotor unbalance) and backward disturbances. This complexification reduces the time of identification of the influence matrix made in active balancing, and the complexified model obtained through symmetry and isotropy hypotheses allows the completely uncouple of the forward disturbances compensation from the backward disturbances compensation.

Este trabalho se insere no contexto de redução de vibrações de rotores via mancais ativos. Essas vibrações são causadas pelo desbalanço do próprio rotor e possuem frequência igual à frequência de rotação desse rotor. O desbalanço pode ser modelado como uma força de perturbação girante, sendo que uma técnica bastante conhecida para anular o efeito dessa perturbação é o balanceamento eletrônico, também chamado de compensação síncrona de desbalanço ou de regulação sincronizada. A presente dissertação traz duas contribuições para o tema. A primeira é a simplificação do compensador síncrono através de considerações de simetria do rotor e de isotropia dos mancais, e a segunda é a obtenção do modelo exato do sistema discreto resultante da aplicação da metodologia de compensação síncrona. Tais contribuições se valem da descrição do modelo em coordenadas complexas. À transformação de coordenadas reais para coordenadas complexas deu-se o nome de complexificação. Assim sendo, a complexificação do modelo permite dividir por dois a dimensão das variáveis do sistema (estados, entradas e saídas), além de dar sentido físico à separação entre os distúrbios diretos (caso do desbalanço) e os distúrbios retrógrados. Essa complexificação reduz o tempo de identificação da matriz de influência feita no balanceamento eletrônico, e o modelo complexificado obtido através das hipóteses de simetria e isotropia permite desacoplar completamente a compensação das perturbações diretas da compensação das perturbações retrógradas. / This work is inserted in the context of active attenuation of rotor vibrations. These vibrations are caused by the rotor\'s own unbalance and have a frequency equal to the rotor\'s rotation frequency. The unbalance can be modeled as a rotating disturbance force, and a well-known technique for cancelling the effect of such a disturbance is the so-called active balancing, also known as synchronous unbalance compensation or synchronized regulation. The present dissertation brings two contributions to the theme. The first one is the simplification of the synchronous compensator through considerations of rotor symmetry and bearing isotropy, and the second one is to obtain the exact model of the discrete system resulting from the application of the synchronous compensation methodology. These contributions make use of the model described in complex coordinates. The transformation from real coordinates to complex coordinates is defined as a complexification. Thus, the complexification of the model allows the division in half of the dimension of the system variables (states, inputs and outputs), as well as giving a physical sense to the separation between forward disturbances (case of the rotor unbalance) and backward disturbances. This complexification reduces the time of identification of the influence matrix made in active balancing, and the complexified model obtained through symmetry and isotropy hypotheses allows the completely uncouple of the forward disturbances compensation from the backward disturbances compensation.

This thesis is a part of a larger project that focuses on the development of a highspeed, high energy flywheel using both high-tech composites and levitating magneticbearings alongside a custom made, permanent magnetized generator built into theflywheel itself. The goal of the project is then to integrate this flywheel into anelectrical vehicle.The main focus of this thesis is the composite material. The composite is to be usedas a shell around the flywheel rotor. This composite shell fills two purposes. The firstis to act as the main energy carrying material, storing above 75% of the total energy inthe flywheel. The second purpose it to strengthen the machine, holding it together.This so that higher speeds than normally possible can be achieved, with the goal beingset to 30 000rpm.In order to be able to design the composite shell correctly a method of calculating theload stresses had to be developed. This was done by the creation of a Matlabprogram, named Spin2Win, capable of calculating the stresses inside a compositemetal hybrid flywheel. Using said Matlab code, combined with modelling andsimulations from SolidWorks, a fully-fledged flywheel was designed complete withdrawings and material specifications.The composite analysis surprisingly shows that the best combination of compositematerials is a mixture of both high strength carbon fibres alongside softer glass fibrescoupled with the weight of the central core. This allowed for control of the radialstresses which was shown to otherwise be the limiting factor when designing rotatingcomposite materials.One of the most interesting, and perhaps even unique, parts of the design is that theelectrical machine has been integrated into the flywheel’s composite shell. Having thetwo entities working together in order to control the radial stresses in thecomposite, by utilizing the weight of the permanent magnets.

Control Designs for Low-Loss Active Magnetic Bearings: Theory and Implementation Brian C. D. Wilson 327 Pages Directed by Dr. Panagiotis Tsiotras and Dr. Bonnie Heck-Ferri Active Magnetic Bearings (AMB) have been proposed for use in Electromechanical Flywheel Batteries. In these devices, kinetic energy is stored in a magnetically levitated flywheel which spins in a vacuum. The AMB eliminates all mechanical losses, however, electrical loss, hich is proportional to the square of the magnetic flux, is still significant. For fficient operation, the flux bias, which is typically introduced into the electromagnets to improve the AMB stiffness, must be reduced, preferably to zero. This zero-bias (ZB) mode of operation cripples the classical control techniques which are customarily used and nonlinear control is required. As a compromise between AMB stiffness and efficiency, a new flux bias scheme is proposed called the generalized complementary flux condition(gcfc). A flux-bias dependent trade-off exists between AMB stiffness, power consumption, and power loss. This work theoretically develops and experimentally verifies new low-loss AMB control designs which employ the gcfc condition. Particular attention is paid to the removal of the singularity present in the standard nonlinear control techniques when operating in ZB. Experimental verification is conduced on a 6-DOF AMB reaction wheel. Practical aspects of the gcfc implementation such as flux measurement and flux-bias implementation with voltage mode amplifiers using IR compensation are investigated. Comparisons are made between the gcfc bias technique and the standard constant-flux-sum (cfs) bias method. Under typical operating circumstances, theoretical analysis and experimental data show that the new gcfc bias scheme is more efficient in producing the control flux required for rotor stabilization than the ordinary cfs bias strategy.

The goal of this dissertation is to evaluate the effectiveness of model predictive control (MPC) for a magnetically suspended flywheel energy storage uninterruptible power supply (FlyUPS). The reason this research topic was selected was to determine if an advanced control technique such as MPC could perform better than a classical control approach such as decentralised Proportional-plus-Differential (PD) control. Based on a literature study of the FlyUPS system and the MPC strategies available, two MPC strategies were used to design two possible MPC controllers were designed for the FlyUPS, namely a classical MPC algorithm that incorporates optimisation techniques and the MPC algorithm used in the MATLAB® MPC toolbox™. In order to take the restrictions of the system into consideration, the model used to derive the controllers was reduced to an order of ten according to the Hankel singular value decomposition of the model. Simulation results indicated that the first controller based on a classical MPC algorithm and optimisation techniques was not verified as a viable control strategy to be implemented on the physical FlyUPS system due to difficulties obtaining the desired response. The second controller derived using the MATLAB® MPC toolbox™ was verified to be a viable control strategy for the FlyUPS by delivering good performance in simulation. The verified MPC controller was then implemented on the FlyUPS. This implementation was then analysed in order to validate that the controller operates as expected through a comparison of the simulation and implementation results. Further analysis was then done by comparing the performance of MPC with decentralised PD control in order to determine the advantages and limitations of using MPC on the FlyUPS. The advantages indicated by the evaluation include the simplicity of the design of the controller that follows directly from the specifications of the system and the dynamics of the system, and the good performance of the controller within the parameters of the controller design. The limitations identified during this evaluation include the high computational load that requires a relatively long execution time, and the inability of the MPC controller to adapt to unmodelled system dynamics. Based on this evaluation MPC can be seen as a viable control strategy for the FlyUPS, however more research is needed to optimise the MPC approach to yield significant advantages over other control techniques such as decentralised PD control. / Thesis (MIng (Computer and Electronic Engineering))--North-West University, Potchefstroom Campus, 2013