Cross Feedback Control of Hybrid Magnetic Bearings Based on Root Locus

The design and analysis method on cross feedback controller is presented for the flat outer-rotor flywheel. Two sets of characteristic equations of rotation are discussed on different bearing condition. Stability analysis is discussed by the comparison between conventional PD controller and controller with cross feedback. And in the end, relationship between controller’s parameters and motion of nutation and precession is investigated by means of root locus analysis. The strong gyroscopic effects are overcome in the after experiments by the implementing of cross feedback control.