Research On Active Disturbance Rejection Control Method Of Ultrasonic Levitation Bearing System

Ultrasonic levitation bearing is a non-contact support element which uses radiation pressureto make the shafting suspended. In comparison with the ordinary mechanical bearing, ultrasoniclevitation bearing has obvious advantages as: simple structure, no electromagnetic interference,low noise, little friction and wearness. Because of its advantages, there are wider applicationprospects for the field of micro-machinery, flywheel energy storage system, the high speedmachine tools. As the short development history of ultrasonic levitation bearing system, then theresearch on stable suspension control algorithm of ultrasonic levitation bearing system has justbegun. However, the stable operation of the ultrasonic levitation bearing system must rely on theexternal control device. Then, the performance of the controller has a considerable influence ondynamic properties of the ultrasonic levitation bearing system. Therefore, it is necessary toexplore a more effective and achievable control method, in order to promote the ultrasoniclevitation bearing system used in the production practice.This paper researches on the axial suspension control that single degree of freedom for theultrasonic levitation bearing system using the active disturbance rejection control (ADRC)algorithm. ADRC is a method of controlling that is not reliant to the accurate mathematicalmodel of the system. Then, it has the advantages that are the simple structure, strong robustnessand anti-disturbance capability. But, ADRC is setted more parameters. Then, the tuning processdepends on human experience. So, the effect is not very good. For solving this problem, thispaper presents that the quantum artificial bee colony (QABC) algorithm can be used to optimizeparameters of the ADRC, because the algorithm has the advantages of easily implementation,few parameters and strong robustness.First of all, the structure and working principle of ultrasonic levitation bearing are analyzed.The piezoelectric transducer that is used for ultrasonic levitation bearing is designed andproduced. The solid modeling of piezoelectric transducer is established by use of CATIA. And,the modal of piezoelectric transducer is analyzed through HyperWorks9.0. Then, the resonancefrequency of piezoelectric transducer can be calculated. Otherwise, the other parameters ofpiezoelectric transducer are measured with the HP-4294A precision impedance analyzer. Themodeling process of ultrasonic levitation bearing has been thoroughly researched. And, themethods that calculate the model parameters by the admittance round are given. Secondly, this paper has made a deeply research on the ADRC controller and parameters tuning in theoreticaland simulating work, and this has established theoretical foundation for the following controllerdesign of the ultrasonic levitation bearing system. Thirdly, by combining the quantum theory andthe artificial bee colony (ABC) algorithm, this paper describes the elementary theory of theQABC. The simulation validates that optimizing capability of the QABC is superior to the ABCusing two benchmark functions. Then, it provides a new solution to the problem of parametersoptimization of ADRC controller. After, an optimization design method for the ADRC controllerbased on QABC is proposed to solve the problem of ADRC parameter tuning. Then, the QABCis applied to the ADRC controller tuning for the ultrasonic levitation bearing system. The resultvalidates that this algorithm is effective. Finally, according to the established mathematicalmodel of axial single degree of freedom ultrasonic levitation bearing, this paper has designedtwo ADRC schemes. The simulation validates that the axial single degree of freedom ultrasoniclevitation bearing system can be steady suspension by the proposed control strategy.