Abstract

This paper presents a practical and comprehensive guide for commissioning the controllers of bearingless machines (BMs). While significant research has been conducted on the commissioning of electric machines (EMs) and magnetic bearings (MBs), relatively little attention has been given to bringing up BMs. Motivated by this gap, the paper presents step-by-step methods for commissioning BM control systems. Two major contributions are outlined in the paper. First, static characterization and sensor calibration techniques, which are necessary for levitating the machine, are introduced. Second, a system identification (System ID) procedure for each plant is presented. Frequency response functions (FRFs) are used to identify the control plant transfer function parameters and evaluate the resulting feedback control performance (command tracking and dynamic stiffness). This paper emphasizes practical testing sequences that are immediately applicable to machines. By following the procedures provided in this paper, engineers can efficiently commission BMs by first ensuring precise sensor calibration and accurate models for control tuning.

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