Decoupling Control of Asymmetric Multicoupled AMB System Under Gyroscopic Effect Using Constrained Robust MPC With Adaptive Gain

The multicoupling problem caused by the gyroscopic effect, asymmetric parameter coupling, and output coupling seriously affects the stability of magnetically suspended rotor (MSR) system of magnetically suspended turbo molecular pump (MSTMP). An adaptive constrained robust model predictive control (ACR-MPC) method with an adaptive feedback gain update is proposed to solve the multicoupling problem of an asymmetric large-inertia system. First, a state-space model is established considering gyroscopic effect, asymmetric parameter coupling, and output coupling, with rotor unbalance treated as a bounded disturbance. Second, based on the nominal-model MPC, a feedback-gain adaptive update law is designed to compensate for disturbances via linear state feedback. Third, a switching strategy is designed to accelerate Lyapunov function decay for faster convergence, while safety constraint tightening and actuator saturation implementation enhance the protection gap safety margin, and Lyapunov-based terminal constraints ensure closed-loop stability. Finally, simulation results show that the centralized decoupling control strategy can effectively solve the coupling among multiple channels of the asymmetric MSR system. Experiments on the MSTMP verify the feasibility and effectiveness of the ACR-MPC. Nutation spectrum is lower than –70.00 dBV, synchronous frequency vibration spectrum is lower than –30.00 dBV.