CES Transactions on Electrical Machines and Systems
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2026, 10(1): 97-108
Enhanced Repetitive Control with Phase Compensation Based ADRC for Harmonic Suppression in Magnetically Suspended Rotor Under Strong Gyroscopic Effects
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1 the State Key Laboratory of High Density Electromagnetic Power and Systems, Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing 100190, China;
2 the University of Chinese Academy of Sciences, Beijing 100049, China;
3 the Shandong Provincial Key Laboratory of Advanced Electromagnetic Conversion Technology, Qilu Zhongke Institute of Electrotechnical Advanced Electromagnetic Drive Technology, Jinan 250104, China
About Author:
Yuxiang Zhu: Yuxiang Zhu received the B.S. degree in e lectrical engineering from Tsinghua University, Beijing, China, in 2023. Yuxiang Zhu is currently working toward the Ph.D degree in the Institute of Electrical Engineering, Chinese Academy of Sciences, and the University of Chinese Academy of Sciences, Beijing, China. His research interests include active magnetic bearings and transformer design.
Fanqiang Gao: Fanqiang Gao (Member, IEEE) was born in Hubei, China, in 1984. He received the B.Eng. degree in automation control from the Huazhong University of Science and Technology, Wuhan, China, in 2006 and the Ph.D. degree in power electronics and power drives from the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China, in 2012. He joined the Institute of Electrical Engineering, Chinese Academy of Sciences, in 2012, where he is currently an Associate Professor. His research interests include the analysis and control of power electronic converters in high power fields.
Kaiyu Shan: Kaiyu Shan was born in Liaoning, China, in 2000. He received the B.S. degree in electrical engineering from Northeast Electric Power University, Jilin, China, in 2023. He is currently working towards his Ph.D. degree in electrical engineering with the Institute of Electrical Engineering, Chinese Academy of Sciences, and the University of Chinese Academy of Sciences, Beijing, China. His research interest includes magnetic bearing control and permanent magnet synchronous motor control.
Zixin Li: Zixin Li (Senior Member, IEEE) was born in Hebei, China, in 1981. He received the B.Eng. degree in industry automation from the North China University of Technology, Beijing, China, in 2005, and the Ph.D. degree in Power Electronics and Power Drives from the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China, in 2010. Since 2010, he has been with the Institute of Electrical Engineering, Chinese Academy of Sciences, where he is currently a Professor and Deputy Director. He has authored or coauthored more than one hundred academic papers and holds more than twenty invention patents in China. His research interests include power electronics and electromagnetic drive technologies and their applications in power grids, transportation, energy, and other fields. Dr. Li is currently serving, or has previously served, as an Associate Editor for IEEE Transactions on Power Electronics, IET High Voltage, Journal of Power Electronics, and Chinese Journal of Electrical Engineering. He was the recipient of the IEEE Power Electronics Society Richard M. Bass Outstanding Young Power Electronics Engineer Award of 2015 for his contributions to multilevel and HVDC converters. He was elected as a Fellow of the Institution of Engineering and Technology (IET) in 2019.
Yaohua Li: Yaohua Li (Member, IEEE) was born in Henan, China, in 1966. He received the Ph.D. degree in power electronics and power drives from Tsinghua University, Beijing, China, in 1994. From 1995 to 1997, he was a Post-Doctoral Research Fellow with the Institute of Electrical Machines, Technical University of Berlin, Berlin, Germany. In 1997, he joined the Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, where he is currently working as a Professor and the Director. His current research interests include the analysis and control of electrical machines and power electronics.
doi: 10.30941/CESTEMS.2026.00003
Magnetically suspended rotor (MSR) systems have gained widespread industrial adoption owing to their frictionless operation and exceptional reliability. However, harmonic current generated by unbalanced mass and sensor runout threatens the system stability. Repetitive control (RC) effectively suppresses harmonic current, but its parameter design relies on an accurate decoupling model of the system. The decoupling model for the MSR system is often simplified to a second-order linear system. Such a simplification, however, necessitates explicit consideration of system uncertainties caused by unmodeled nonlinearities during the RC design process. Especially under strong gyroscopic effects, the parameter uncertainty is further increased. In this article, an active disturbance rejection controller (ADRC) based on phase compensation (PC) is used to suppress coupling disturbances and improve the control performance of harmonic suppression. Firstly, the dynamic model of the MSR system is established, and both internal and external disturbances are thoroughly analyzed. Then, the RC-PCADRC scheme is designed, integrating the complementary strengths of RC and ADRC, with a particular emphasis on PC to improve stability margins. A comprehensive stability analysis is conducted, along with parameter optimization guidelines. Finally, the effectiveness and superiority of the proposed scheme are validated through both simulations and experiments.
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