A Study on Zero-bias Simple Adaptive Control AMB System

For further evaluation of the zero-bias SAC method, we built a rotor AMB experiment system of which the ratio of the moment of inertia Iz/Ir is almost 1. Zero-bias SAC was introduced to control the attitude/position of rotor and compensate gyro effect. It is difficult to control since the second rigid mode (2R) forward natural vibration frequency grows parallel with the rotation frequency which means that 2R natural vibration will keep influencing the rotor during rotation. With conventional PID method, orbits of rotor became unstable when rotation frequency increased to about 100Hz. In comparison, with SAC method we rotated up to 225Hz perform without any gyro effect and the orbits of rotor were considerably stable.