Model Based Decoupling Control of a Disc Rotor on Active Magnetic Bearings

Under certain conditions a coupled system can be decoupled by means of feedback control. In this paper a method is presented to control a hard disc drive prototype on AMBs with a decoupling state feedback. In addition a feedforward matrix for the tracking problem is presented. The method is based on a linear analytical model of the system which is adapted by using frequency domain measurements. The derivation of the model, the design of the feedback controller and the feedforward is shown. Simulations are compared with measurements on the experimental setup. The current work focuses on improving the performance of the deocupling controllers.