Hindawi Publishing Corporation

Advances in Mechanical Engineering

Article ID 168428

Research Article
Rotor Mass Eccentricity Vibration Compensation Control in
Bearingless Induction Motor

Zebin Yang,1 Dawei Dong,1 Haiyu Gao,2 Xiaodong Sun,3 Rong Fan,1 and Huangqiu Zhu1
1
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China
2
Eontronix Co., Ltd., Beijing 100085, China
3
Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China

Correspondence should be addressed to Xiaodong Sun; xdsun@ujs.edu.cn

Received 5 July 2014; Revised 10 November 2014; Accepted 10 November 2014

Academic Editor: Yi Wu

Copyright © Zebin Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which
permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

In the process of motor rotation, the vibration caused by the rotor mass eccentricity seriously affects the dynamic characteristics and
safety operation of system. So rotor mass eccentricity vibration compensation control on rotating machine has great significance,
especially for the high speed bearing less induction motor (BIM). A rotor mass eccentricity compensation control strategy was
presented to restrain the vibration of suspended rotor for BIM. Firstly, the suspension rotor dynamical model was deduced and
unbalanced vibration mechanism was analyzed. Secondly, based on decoupling control between electromagnetic torque and radial
force, the obtained vibration signal from the displacement sensor was put into the original radial force control system. Then, a
feedforward compensator was set up to increase the same period component of the given radial force signal and enlarge the stiffness
of the vibration signal. Finally, the compensation control of rotor vibration was realized by forcing the rotor shaft rotation around
its geometric center. The simulation results show that the presented feedforward compensator can suppress the vibration of rotor
under different speed and improve the precision of rotor suspension. The further experimental results also show that the control
method can obviously reduce the peak-peak value of rotor radial displacement and effectively restrain rotor vibration.

1. Introduction performance of the system, but also increases the motor

Bearingless induction motor (BIM), with the advantages of
simple structure, low cost, uniform air-gap, high reliability,
low cogging torque ripple, wide range of weak magnetic,
and so forth, can use ordinary squirrel cage rotor with high
mechanical strength. This makes it have broad application
prospects including turbines molecular pump, compressor,
high speed electric spindle, and aerospace and fly wheel
energy storage [1–4]. However, BIM has the problem of
rotor mass eccentricity caused by some machinery imbalance
in practical engineering applications, such as the uneven
distribution of rotor lamination quality and the processing
and assembling accuracy. An excitation force with the same
frequency of speed will be produced on the rotor, which can
result in the radial vibration of the rotor when the speed
reaches a certain degree. The vibration not only reduces
the rotation precision of the rotor and affects the dynamic
noise when a part of vibration force is transmitted to the
frame through the air-gap. In addition, the excitation force
is proportional to the square of speed [5], so it will increase
rapidly when BIM is at high speed. The performance and safe
operation of the system will be seriously affected. Therefore,
it is of great theoretical and realistic significance to study the
mass eccentricity of high speed rotor. Many compensation
methods have been put forward by domestic and foreign
scholars [6–10]. These methods can be divided into two
categories: the first one is to eliminate the unbalanced force
called unbalanced displacement compensation (force mini-
mum criterion); the second one is to eliminate the displace-
ment called unbalanced force compensation (displacement
minimum criterion). In short, the former makes the rotor
rotate around its inertial axis by reducing the stiffness and
damping of the suspension rotor at a certain speed, while
the latter makes the rotor rotate around its geometric center
2 Advances in Mechanical Engineering

axis by increasing the stiffness and damping of the suspension y

rotor.
For the bearingless motor with high speed rotating ability, c(xc , yc )
suspension rotor vibration suppression is a hot issue in many
scholars research and has achieved some research results [11–
14]. In [11], taking the rotor eccentricity into consideration, 𝜔t + 𝛼
a radial levitation force closed loop control strategy was 𝛾
introduced to reduce the peak to peak value of the vibration
ym 𝜀
displacement. As a result, the static and dynamic perfor-
mance was improved for the suspension rotor; however, this m
method should obtain the accurate analytical model of radial
levitation force. In [12], an unbalanced compensation control
system was designed based on feedforward method for rotor rm xm
vibration compensation control in bearingless permanent
magnet synchronous motor, which reduced the vibration
amplitude of rotor and improved the rotation precision x
of rotor greatly and achieved satisfactory results, but the 𝜔
research was only in the low speed. In [13], a feedback
compensation controller was designed based on the intrinsic
Figure 1: Suspended rotor eccentricity coordinate.
characteristics of the unbalanced disturbance force, and the
vibration was effectively attenuated in bearingless permanent
magnetic slice motor, but the method needed a large number
of mathematical calculations. In [14], an adaptive notch filter levitation force winding are 𝑃1 and 𝑃2 , respectively; the
was designed based on the least mean square (least mean electrical angular frequencies are 𝜔1 and 𝜔2 , respectively.
square, LMS) algorithm to compensate the same frequency When the pole pairs between the two sets of windings are
vibration displacement of the rotor and suppress the rotor 𝑃2 = 𝑃1 ± 1 and the electric angular frequency between
eccentricity vibration in bearingless switched reluctance the two sets of windings is 𝜔1 = 𝜔2 , the motor rotor
motor at different speed conditions; then the precision of can simultaneously realize the function of levitation and
rotor suspension was improved, but the step factor, which rotation [3]. In this paper, the vibration problem caused
decided the stability and convergence rate of the adaptive by the mass eccentricity was researched for the high speed
filter, was difficult to determine. suspension rotor of BIM. The trajectory of the rotor must
In this paper, on the basis of feedforward method, an be analyzed before the rotor vibration compensation [8, 9].
unbalanced compensator was put forward to solve the vibra- When the rotor rotates with an angular velocity 𝜔, the rotor
tion problem caused by the mass eccentricity of high speed mass eccentricity, if present, will cause the inertia axis 𝑐
suspension rotor for BIM. Firstly, the vibration signal was and the geometric axis 𝑚 noncoincidence. The suspended
extracted from the detected displacement signal. Then, it was rotor eccentricity coordinate is shown in Figure 1. Under the
added to the original radial levitation force control system, rectangular coordinate system, the rotor centroid coordinates
so as to carry out the feedforward compensation control can be expressed as
for the unbalanced excitation force and achieve the goal of
𝑥𝑐 = 𝑥𝑚 + 𝜀 cos (𝜔𝑡 + 𝛼)
reducing rotor vibration. On the basis of decoupling control (1)
between torque and radial levitation force, a BIM simulation 𝑦𝑐 = 𝑦𝑚 + 𝜀 sin (𝜔𝑡 + 𝛼) ,
control system was constructed in Matlab/Simulink toolbox.
The simulation research was carried out in the low speed and where 𝜀 is the eccentric distance of rotor inertia axis relative
high speed. To further verify the validity and the correctness to the geometric central axis; 𝜔 is the rotor speed; 𝛼 is the
of the proposed control strategy, the vibration suppression initial phase angle; 𝑥𝑐 (𝑦𝑐 ) is the rotor inertia center (centroid)
was studied on the BIM digital control system experimental coordinates; 𝑥𝑚 (𝑦𝑚 ) is the motion coordinates for rotor
platform. The simulation and experimental results all indicate geometric center.
that the proposed compensation control strategy can effec- In order to facilitate the analysis, ignoring the cyclotron
tively restrain the rotor vibration and improve the precision of effect, the motion equations of the rotor can be established by
suspension rotor. The system has good compensation control Newton’s laws:
effects in a wide speed range, especially for the high speed.
𝑑2 𝑥𝑚 𝑑𝑥 √2
𝑀 2
+ 𝑐𝑥 𝑚 + 𝑘𝑥 𝑥𝑚 = − 𝑀𝑔
𝑑𝑡 𝑑𝑡 2
(2)
2. The Dynamics Model of 𝑑2 𝑦 𝑑𝑦 √2
BIM Suspension Rotor 𝑀 2𝑚 + 𝑐𝑦 𝑚 + 𝑘𝑦 𝑦𝑚 = − 𝑀𝑔,
𝑑𝑡 𝑑𝑡 2
Embedding other windings called radial levitation force where 𝑀 is the rotor quality; 𝑐𝑥 and 𝑐𝑦 are the coupling
windings in the stator of ordinary induction motor, a BIM parameter; 𝑘𝑥 and 𝑘𝑦 are the stiffness coefficient; the right of
is formed. The pole pairs of the torque winding and radial the equality is the static gravity.
Advances in Mechanical Engineering 3

Considering the rotor mass eccentricity, the right of of the centrifugal force generated by rotor mass eccentricity;
formula (2) should be combined with the centrifugal force. if there is the same stiffness in 𝑥 and 𝑦 direction of the
Then formula (2) turns into suspension rotor, the rotor trajectory is a circle. If the rotor
shaft rotates around its geometry, the obtained offset signal
𝑑2 𝑥𝑚 𝑑𝑥 √2 from displacement sensor detection is zero. But if the rotor
𝑀 + 𝑐𝑥 𝑚 + 𝑘𝑥 𝑥𝑚 = 𝑀𝜀𝜔2 cos (𝜔𝑡 + 𝛼) − 𝑀𝑔
𝑑𝑡2 𝑑𝑡 2 mass imbalance exists, the rotor will be deviated from the
geometric central axis under the centrifugal force; thus
𝑑2 𝑦𝑚 𝑑𝑦 √2
𝑀 + 𝑐𝑦 𝑚 + 𝑘𝑦 𝑦𝑚 = 𝑀𝜀𝜔2 sin (𝜔𝑡 + 𝛼) − 𝑀𝑔. the achieved displacement signal from displacement sensor
𝑑𝑡2 𝑑𝑡 2 detection will include rotor vibration signal. Because the
(3) amplitude of the vibration signal is proportional to the square
of the speed, there will be a part of the vibration force to the
Solving (3), the rotor suspension steady-state response can be engine base when the motor is in high speed or ultrahigh
obtained as follows: speed operation. As a result, the motor noise will be increased
√2𝑀𝑔 and the performance and safe will be impacted for the high
𝑥𝑚 = 𝐴 cos (𝜔𝑡 + 𝛼 − 𝛾1 ) − speed rotor system. In this paper, on the basis of the principle
2𝑘𝑥 of rotor displacement signal, a compensation force contrary
(4)
√2𝑀𝑔 to unbalanced force is exerted to the rotor to compensate the
𝑦𝑚 = 𝐵 sin (𝜔𝑡 + 𝛼 − 𝛾2 ) − , mass unbalance. The rotor vibration suppression is realized
2𝑘𝑦 by forcing the rotor shaft to rotate around the geometric
center.
where
𝐴 3. The Design of Feedforward Compensator
2
𝜔 The rotor vibration feedforward compensator is designed for
= 𝜀𝑥
2𝑘𝑥 /𝑀 the BIM on the basis of the air-gap magnetic field oriented
decoupling control [15]. Analyzing the rotor trajectory, it can
1 be found that the displacement signal from sensors not only
×
√(1 − 𝜔2 / (2𝑘𝑥 /𝑀)) + (16𝑐𝑥2 /𝑀𝑘𝑥 ) (𝜔2 / (2𝑘𝑥 /𝑀)) contains the vibration signal with the same frequency of the
speed but also contains some other interference signals. The
vibration signal obtained from the displacement signal is put
𝐵 into the radial levitation force control system. A feedforward
compensator is set up to increase the control force of the same
𝜔2 period component for the given output signal 𝐹𝑥∗ and 𝐹𝑦∗ , so
= 𝜀𝑦
2𝑘𝑦 /𝑀 as to increase the stiffness of the vibration signal for the radial
control system and force the rotor shaft rotation around the
1 geometry central axis. The unbalanced compensation control
×
√(1 − 𝜔2 / (2𝑘𝑦 /𝑀)) + (16𝑐𝑦2 /𝑀𝑘𝑦 ) (𝜔2 / (2𝑘𝑦 /𝑀)) system block diagram is shown in Figure 2.

2𝜉𝑥 (𝜔/√2𝑘𝑥 /𝑀) 3.1. Extraction of the Vibration Signal. Extracting the vibra-
𝛾1 = tan−1 [ ] tion signal with the same frequency of the speed from the
(1 − 𝜔2 / (2𝑘𝑥 /𝑀)) displacement signal is a precondition to realize the rotor
vibration feedforward compensation control. The vibration
2𝜉𝑦 (𝜔/√2𝑘𝑦 /𝑀) signal was obtained by rotation coordinate transformation
[ ]
𝛾2 = tan−1 [ ], in this paper. The achieved geometry center displacement
(1 − 𝜔2 / (2𝑘𝑦 /𝑀))
[ ] signals 𝑋𝑠 and 𝑌𝑠 from displacement sensor detection were
(5) transformed from the rectangular coordinate to the rotation
coordinate transformation. In the displacement signal, the
where 𝜀𝑥 (𝜀𝑦 ) is component in the 𝑥(𝑦) axis of the eccentric vibration signal with the same frequency of the speed was
distance: converted into DC signal, and the interference signal with
different frequency of the speed was converted into a double
2𝑐𝑥 frequency signal. The sum of the two is 𝑋𝑟1 and 𝑌𝑟1 ,
𝜉𝑥 =
√𝑀𝑘𝑥 respectively:
2𝑐𝑦 (6)
𝑋𝑟1 = 𝑋𝑠 cos 𝜔𝑡 + 𝑌𝑠 sin 𝜔𝑡
𝜉𝑦 = . (7)
√𝑀𝑘𝑦 𝑌𝑟1 = −𝑋𝑠 sin 𝜔𝑡 + 𝑌𝑠 cos 𝜔𝑡.

From formula (4), it can be seen that the movement track Using a low pass filter, those signals were transformed
of the rotor geometric center is an ellipse under the effects to the only DC component signals 𝑋𝑟2 and 𝑌𝑟2 . At last,
4 Advances in Mechanical Engineering

∗ x
− Fx∗ ∗
i2d i2A y
x∗ + Radial i2A
PID ∗
+ suspension i2B CR i2B
y∗ + − Fy∗ ∗
i2q 2/3 BIM
force ∗ PWM i2C Photoelectric
PID i2C
model encoder
Xs +
Xc
Ys
Feedforward ∗
i1A
Yc ∗
i1A
𝜔 compensator i1d
∗
Air-gap i1B i1B
𝜓1 CR
flux ∗
i1q 2/3
∗
i1C PWM i1C
oriented
∗ +
𝜔 control
PID
− model
𝜃1 𝜔
𝜔 𝜃
𝜃s + +

Figure 2: Block diagram of the rotor unbalanced compensation control system for bearingless induction motor.

the DC component was carried out in the coordinate inverse From the equation above, it can be found that the centrifugal
transformation, and the extraction of the vibration signal was force is proportional to the square of the speed. With the
realized: increasing of the speed, the centrifugal force will increase
rapidly, even when there is a very small eccentricity. So the
𝑋𝑐 = 𝑋𝑟2 cos 𝜔𝑡 − 𝑌𝑟2 sin 𝜔𝑡 necessity of rotor eccentricity compensation is reflected in the
(8) other side.
𝑌𝑐 = 𝑋𝑟2 sin 𝜔𝑡 + 𝑌𝑟2 cos 𝜔𝑡.

At this time, the vibration signals are the compensation

signals 𝑋𝑐 and 𝑌𝑐 . The signal 𝑋𝑐 (𝑌𝑐 ) is a sinusoidal function
with the same frequency and phase of the 𝐹𝑧𝑥 (𝐹𝑧𝑦 ). The
rotor mass unbalanced compensation can be achieved by
changing the compensation signal amplitude which is gotten
by adjusting proportional coefficient 𝑘 of the compensation
controller. The whole process can be shown in Figure 3, where
the “𝑇” represents the rotation coordinate transformation
matrix; the “𝐶” represents the low pass filter; the “𝑇−1 ”
represents the coordinates inverse transformation matrix.
3.2. Calculation of the Centrifugal Force. Because of the
centrifugal force, the rotor rotation deviates from the geo-
metric central axis to make the vibration. So constructing
the simulation system must take the effect of centrifugal
force into account. In this paper, the static unbalance caused
by the rotor inertia axis and the geometric central axis
misalignment is considered, while the dynamic imbalance
caused by the inertia axis and the geometric central axis with
a certain angle is not considered. Assuming the eccentricity
is 𝜀, the motor displacement has the same stiffness in the
𝑥 and 𝑦 direction. The real-time rotor angular velocity 𝜔,
which can be calculated by centrifugal force module, is
regarded as the input signal for the compensation controller,
so that the centrifugal force calculation is adaptive. When the
rotor rotates with the speed 𝜔 (rad/s), the expression of the
centrifugal force acting on the rotor can be written as
𝐹𝑧𝑥 = 𝑀𝜀𝜔2 cos (𝜔𝑡 + 𝛼)
(9)
𝐹𝑧𝑦 = 𝑀𝜀𝜔2 sin (𝜔𝑡 + 𝛼) .
4. Simulation and Experiment Research
4.1. Results and Analysis of the Simulation. To verify the
effectiveness of the proposed rotor vibration compensation
control strategy for BIM based on the feedforward method,
a simulation model control system was constructed by using
the Matlab/Simulink toolbox. The simulation system of the
feedforward compensation controller is shown in Figure 4,
which includes the extraction of the vibration signal and the
centrifugal force calculation. In the simulation, the algorithm
was set as variable step size Ode23t, the starting time was
0 s, and the termination time was 0.3 s. The parameters of
the BIM are shown as follows: the rotor mass 𝑚 = 2.85 kg;
the rotational inertia 𝐽 = 0.00769 kg⋅m2 ; the eccentricity
𝜀 = 0.3 mm; the torque winding: the pole pairs 𝑃1 = 1;
the stator resistance is 2.01 Ω. The mutual inductance of
stator and rotor is 0.15856 H. The stator leakage inductance
is 0.00454 H; the suspension winding: the pole pairs 𝑃2 = 2;
the stator resistance is 1.03 Ω. The rotor resistance is 0.075 Ω.
The mutual inductance of stator and rotor is 0.00932 H. The
stator leakage inductance is 0.00267 H. The rotor leakage
inductance is 0.00542 H. The simulation results under the two
different typical types of speed are shown in Figures 5–7.
The low speed (2000 r/min) simulation results are shown
in Figure 5 for the rotor vibration of BIM. The suspension
rotor geometric center 𝑚 in 𝑥 and 𝑦 direction displacement
waveforms without a compensation controller is shown in
Figures 5(a) and 5(b). The suspension rotor vibration peak
to peak value is about 24 𝜇m in the steady-state; by contrast,
the suspension rotor geometry center 𝑚 in 𝑥 and 𝑦 direction
displacement waveforms with a compensation controller is
Advances in Mechanical Engineering 5

T
D

Ys m
Xr 𝜔t Xr1 Xr2
Yr 𝛼 Xs , Ys
c C
Xs Xc , Yc
T T−1
𝜔 Yr1 Yr2
C

(a) (b)
Figure 3: Coordinate transformation and vibration signal extraction.

sin
× ×
cos Xc
C K1
+
As + 1 +
Xs +
−
× ×

× × Yc
K2
C +
Ys − As + 1 +
+
× ×

𝜔
× cos
Fzx
×
u2 𝜀 m
Fzy
Clock × sin ×

Figure 4: The simulation model of feedforward compensator.

shown in Figures 5(c) and 5(d). The peak to peak value
is about 8 𝜇m in the steady-state. From Figure 5, it can be
seen that the vibration amplitude of the rotor is reduced
with a feedforward compensator and the effectiveness of the
designed controller is proved.
The high speed (9000 r/min) simulation results are shown
in Figures 6 and 7 for the rotor vibration of BIM. The
suspension rotor geometric center 𝑚 in 𝑥 and 𝑦 direction
displacement waveforms without a compensation controller
is shown in Figures 6(a) and 6(b). The motor rotor vibration
peak to peak value is about 48 𝜇m in the steady-state; by
contrast, the suspension rotor geometry center 𝑚 in 𝑥 and
𝑦 direction displacement waveforms with a feedforward
compensator is shown in Figures 6(c) and 6(d). The peak to
peak value is about 12 𝜇m in the steady-state. From Figure 6,
it can be found that, after using the designed feedforward
compensator, the vibration caused by the suspension rotor
mass imbalance can be suppressed effectively and the rotation
precision of rotor can be improved greatly.
The rotor displacement trajectory waveforms without and
with a feedforward compensator are shown in Figures 7(a)
and 7(b), respectively. In Figure 7, due to the assumption of
the BIM with the same stiffness in 𝑥 and 𝑦 direction, it can be
seen that the trajectory of rotor geometry center is a circle
when stable suspension is at the speed of 9000 r/min. The
effectiveness of the proposed control strategy is testified more
clearly. Comparing the simulation results of Figures 5 and 6,
it also can be found that there is a satisfactory suppression
effect of vibration compensation for BIM in low and high
speed. The rotor vibration peak to peak value is about 1/3
of that before without compensation control in low speed,
while the rotor vibration peak to peak value is about 1/4 in
the state of high speed. That shows the proposed method
can compensate the rotor vibration in a wide speed range,
especially significant effect at high speed.
4.2. Results and Analysis of the Experiment. In order to fur-
ther prove the correctness and effectiveness of the proposed
suppression method, with a two-degree-of-freedom BIM as
the experimental object, the digital control experimental
platform was constructed using the DSP TMS320F28335 as
the core. The self-made prototype parameters are the same
6 Advances in Mechanical Engineering

(×10−6 m) (×10−6 m)
16 16
12

The displacement in y-axis

12
The displacement in x-axis

8 8
4 4
0 0
−4 −4
−8 −8
−12 −12
−16 −16
0 0.05 0.1 0.15 0.2 0.25 0.3 0 0.05 0.1 0.15 0.2 0.25 0.3
t (s) t (s)
(a) (b)
−6
(×10 −6
m) (×10 m)
12 12
The displacement in x-axis

The displacement in y-axis

9
6 6
3 3
0 0
−3 −3
−6 −6
−9 −9
−12 −12
0 0.05 0.1 0.15 0.2 0.25 0.3 0 0.05 0.1 0.15 0.2 0.25 0.3
t (s) t (s)
(c) (d)

Figure 5: The vibration suppression simulation results at the speed of 2000 r/min.

as simulation parameter. The given speed of experimental analysis and the simulation study and the experimental test,
machine is set at 2000 r/min. The experimental results are the following conclusions can be drawn.
shown in Figure 8.
Figure 8(a) shows the radial displacement in the 𝑥 direc- (1) This method can compute the rotor speed in real-
tion without a feedforward compensator. It can be seen time, which makes the calculation of the centrifugal
that the peak to peak value of vibration displacement is force with the adaptability and the rotor mass unbal-
within 50 𝜇m and the vibration range is far less than the anced compensation in real-time.
length of motor air-gap. The motor realizes stable suspension; (2) The proposed compensation control method can
Figure 8(b) shows the radial displacement in the 𝑥 direction reduce the rotor vibration peak to peak value and
with a feedforward compensator. It can be seen that the peak improve the precision of the suspension rotor. The
to peak value of vibration displacement is within 25 𝜇m. validity of the feedforward compensation controller
The vibration amplitude is reduced to half of the original is proved for the rotor vibration suppression.
using feedforward compensator. So the inhibitory effect is (3) Different speed simulation results and experimental
obvious and the system control precision is improved. Those results show that the proposed method can compen-
show that the BIM achieve stable suspension and the correct- sate rotor vibration in a wide speed range.
ness and effectiveness of the proposed control method are
verified.
Conflict of Interests
The authors declare that there is no conflict of interests
5. Conclusions
regarding the publication of this paper.
In this paper, the unbalanced vibration mechanism was
analyzed on the basis of deducing the dynamic model of Acknowledgments
suspension rotor for the BIM. The rotor mass unbalanced
compensation of BIM was achieved based on the feedfor- This work was supported by the National Natural Sci-
ward compensation algorithm. According to the theoretical ence Foundation of China under Project nos. 51305170,
Advances in Mechanical Engineering 7

(×10−5 m) (×10−5 m)
4 4
3 3
The displacement in x-axis

The displacement in y-axis

2 2
1 1
0 0
−1 −1
−2 −2
−3 −3
−4 −4
0 0.05 0.1 0.15 0.2 0.25 0.3 0 0.05 0.1 0.15 0.2 0.25 0.3
t (s) t (s)
(a) (b)

(×10−5 m) (×10−5 m)
4 4

The displacement in y-axis

3 3
The displacement in x-axis

2 2
1 1
0 0
−1 −1
−2 −2
−3 −3
−4 −4
0 0.05 0.1 0.15 0.2 0.25 0.3 0 0.05 0.1 0.15 0.2 0.25 0.3
t (s) t (s)
(c) (d)

Figure 6: The vibration suppression simulation results at the speed of 9000 r/min.

(×10−5 m) (×10−5 m)
4 4

3 3

2 2
The displacement in x-axis
The displacement in x-axis

1 1

0 0

−1 −1

−2 −2

−3 −3

−4 −4
−4 −3 −2 −1 0 1 2 3 4 −4 −3 −2 −1 0 1 2 3 4
The displacement in y-axis (×10−5 m) The displacement in y-axis (×10−5 m)
(a) (b)

Figure 7: The trajectories of rotor geometry center when stable suspension at the speed of 9000 r/min.
8 Advances in Mechanical Engineering

100 𝜇m

100 𝜇m
x-axis displacement

x-axis displacement
Time 20 ms Time 20 ms
(a) (b)

Figure 8: Experimental results.

51475214, and 61104016, the China Postdoctoral Science
Foundation funded project under Project nos. 2014T70482,
2012M521012, and 2014M561583, the Natural Science Foun-
dation of Jiangsu Province of China under Project nos.
BK20130515 and BK20141301, the Professional Research
Foundation for Advanced Talents of Jiangsu University under
Project nos. 12JDG057 and 14JDG076, and six categories
talent peak of Jiangsu Province under Project ZBZZ-017,
and the Priority Academic Program Development of Jiangsu
Higher Education Institutions.
References
[1] A. Chiba, D. T. Power, and M. A. Rahman, “Characteristics of a
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