10th International Conference on Power Electronics-ECCE Asia

May 27 - 30, 2019 / BEXCO, Busan, Korea

A Shared-bridge Converter with Reversed

Current Direction for Active Magnetic Bearing
Drive
Zaidong Hu, Dong Jiang, Hongbo Sun, and Ronghai Qu
State Key Laboratory of Advanced Electromagnetic Engineering and Technology
School of Electrical and Electronic Engineering
Huazhong University of Science and Technology, Wuhan, China

Abstract-- Active magnetic bearing(AMB) is widely used controller, power amplifiers and position sensor. The
in high speed rotating machinary, and the power electronic position of the shaft is detected by a position sensor and
converter is a key technology of AMB[1]. A shared-bridge is sent to the controller and the current commands are
converter has been put forward for multi-axis AMB drive,
generated. Then, the power amplifiers generate real
which can make fully use of devices and reduce the cost[8].
However, the high current rating of shared-phase-leg brings winding current. The electromagnet can be with or
challenge to the devices and the power losses of converter without permanent magnet (PM), and in this paper, PM is
cannot be reduced by this topology. In this paper, a novel not applied. In this case, two windings are required for
topology for AMB drive with reversed current direction is one axis control, and the magnetic field is excited by the
put forward. Comparing with the shared-bridge converter, winding currents. The shaft is levitated and controlled by
the novel topology can significantly reduce the current
the differential electromagnetic force generated by
stress of devices on the shared-phase leg by using one more
power electronics switch and diode. Meanwhile, the power electromagnets in two sides.
losses of the converter can be greatly reduced. The principle The winding-currents of two electromagnets are set as
and the implementation method are introduced and the bias current Ibias adding and subtracting the control
compensation is applied to eliminate the effect of dead-time. current ix respectively. The function of the bias current is
Simulation results have successfully validated the feasibility to generate bias magnetic field, and control current is
of methods of modulation and dead-time compensation.
used to generate the differential electromagnetic force.
Suspension and rotating tests have carried out on a 4-axis
AMB test rig with the converter of novel topology. The Then, the differential electromagnetic force Fmag can be
experimental results have verified that the novel converter calculated as[2]:
meets the requirements of AMB drive. μ 0 S0 N 2 ( I bias + ix )2 ( I bias − ix )2 (1)
Fmag = Ft − Fb = ⋅( − )
2 ( g − x)2 ( g + x)2
Index Terms—Active magnetic bearing, drive, topologies,
where Ft and Fb are the electromagnetic forces of top and
current stress.
bottom electromagnets, S0 is the area of the pole, N is the
I. INTRODUCTION winding turns, g is the initial length of the air gap and x is
displacement of shaft. Generally, ix is much smaller than
Comparing with mechanical bearing, magnetic bearing Ibias.
can produce magnetic force which supports shaft in Therefore, (1) can be linearized at x=0, ix=0, and
rotating without mechanical friction[1][2]. Meanwhile,
2 μ0 S0 N 2 I bias
2
2μ S N 2 I (2)
lubrication is not required in AMB system. With these Fmag = − 3
x + 0 0 2 bias ix = k x x + ki ix
characteristics, magnetic bearing is a better alternative for g g
high speed rotational machinery such as flywheels and where kx is called force/displacement stiffness, and ki is
compressor. called force/current stiffness, and (2) is the linear model
Electro-
magnet
of a one-axis AMB. From (2), only ix can be actively
ia* ia
Power
Amplifier
controlled. Consequently, the essence of AMB drive is to
Controller Shaft
control the control current ix.
From
ic* Power Controller sensors
Amplifier
ic
ia -
Ibias + PI da Ga
Position controller
+
sensor xref + PID ix* To Power
Carrier
Fig. 1. Compositions of one-axis AMB system. controller Amplifier
- -
+ PI dc Gc
x Ibias controller
The compositions of a one-axis AMB system is shown -
ic
in Fig.1. The system consists of the electromagnet, the
From From
This work was supported in part by the National Natural sensors sensors
Science Foundation of China (NSFC) under Grant 51877091. Fig. 2. Control method applied in AMB drive.

ⓒ2019 KIPE
 Fig.2 shows a common control method applied in direction of the shaft, and each axis is inclined at 45
AMB system. The outer closed-loop is the position loop. degrees to share the radial load. The thrust bearing can
The feedback position is compared with the reference control the axial direction. Therefore, five axes need be
position, and the position error is sent to the position controlled in a general AMB system.
controller, which can be a PID controller[1]. Then the Radial
Motor
Radial
Bearing 1 Bearing 2
control current command ix* is generated. The inner
closed-loop is the current loop, and the differential Thrust
Bearing
control is applied. The current commands for two
x1 y1 z x2 y2
windings equal the bias current Ibias add and subtract the
control current ix. The duty cycles da and dc are generated
by the current controllers and are compared with the
carriers. Then, the gate driver PWM signals Ga and Gc are
generated and are sent to the power amplifier to control
the amplitude of the current. Fig. 4. Five-axis AMB suspension system.
From the principle, the winding currents are directly
controlled by the power amplifiers, so that the power Radial Radial
Bearing 1 Bearing 2
amplifier determines the precision, capability, dynamic
response of current control. Therefore, the power ia1 ia2 ia3 ia4
amplifier is the core technology in AMB. Moreover, the
cost, the size and the efficiency of the power amplifier
y1 y2
should be fully considered. x1 x2

There are some researches paying attention to power

amplifier in recent decades, and some of the topologies
ic2 ic1 ic4 ic3
are shown in Fig.3. At the beginning, linear power
amplifier in Fig.3(a) is used for AMB drive[3]. Due to its Fig. 5. Structure of 8-pole radial bearings and the arrangement of the
high power loss, power electronic converter is a better windings.
alternative[4]. The H-bridge in Fig.3(b) converter is
widely used in industrial application and can be also used When considering the multi-axis AMB drive, the
into AMB drive[5]. However, large quantities of devices converter can be further optimized. A share-bridge
are required with the H-bridge topology. As the current is converter in Fig.6 has been put forward[8]. With the
unidirectional while PM is not applied, half-H-bridge similar principle of three-half-phase-legs converter, the
converter in Fig.3(c) can well implement the function requirement of number of devices can be greatly reduced
while the half of devices can be saved[6]. Furtherly, by by sharing one phase-leg for all windings.
sharing central phase-leg for two half-H-bridge converter,
the three-half-phase-legs converter in Fig.3(d) has been
proposed and has good performance in AMB drive[7]. L1 ia1
With this converter, one axis of the shaft can be ic1 i
a2
controlled with only 3 power electronic switches and 3 ic2 ia3
iN ic3
diodes. ia4
ic4 i
+ a5
ic5
L10

Fig. 6. Shared-bridge converter for 5-aixs AMB drive.

-
(a) (b) However, as all the windings share one phase-leg, the
current across the shared-phase-leg iN is the sum of all the
windings. This will bring challenges on the current
carrying capacity of shared-phase-leg devices. In
practical application, the devices on the shared-phase-leg
are easy to be broken due to the high current stress.
Meanwhile, comparing with the traditional topologies,
(c) (d) the power loss of the shared-bridge converter cannot be
Fig. 3. Topologies for AMB drive: (a) Linear power amplifier; (b) reduced.
Full-H bridge; (c) Half-H bridge; (d) Three-half-phase-legs.
In this paper, a novel shared-bridge converter with
Generally, as shown in Fig.4, the shaft can be fully reversed current direction has been proposed. Based on
levitated by two radial AMBs and one thrust AMB in a the shared-bridge converter, the current rating of shared-
rotating machine. Fig.5 shows the structures of two 8- phase-leg and power loss of converter can be greatly
pole radial bearings and the arrangement of the windings. reduced by using one more switch device and diode. The
A radial AMB can control two axes in perpendicular topology and the implement method of the converter are
introduced in prat II, and the experimental results are different topologies when applied in a N-axis AMB
shown in part III. Conclusions are drawn in part IV. system. With the idea of sharing phase-leg, the
requirements of devices can be greatly reduced, and the
II. SHARED-BRIDGE CONVERTER WITH REVERSED cost and the size of the power electronics converter can
CURRENT DIRECTION be reduced as a result. Comparing with basic shared-
bridge topology, the novel structure uses one more switch
A. Topology of Shared-bridge Converter with Reversed
and diode. If all the bottom switches share the same gate
Current Direction
power suppliers, comparing with the basic shared-bridge
With the shared-bridge converter in Fig.6, the power converter, another plenty is that more isolated gate driver
electronic devices can be fully used by sharing one phase- power suppliers are required for switches connected to
leg. However, the current across the shared-phase-leg is the top bus. This problem can be solved by using
the sum of all the winding-currents. The high current bootstrap circuit.
rating may reduce the lifetime of shared-phase-leg
devices. The root case is that the directions of all B. Stress and Power Loss
winding-currents are the same. Therefore, if half of For each axis, the sum of two winding currents is
winding-currents are reversed, currents with reversed twice of Ibias, while the difference between two winding
directions will be neutralize at the midpoint of the shared- currents is twice of the control current ix. Therefore, when
phase-leg. The current rating will be greatly reduced as a shared-bridge converter is applied for a N-axis AMB
result. Fortunately, the magnetic levitation force is only drive, the amplitude of current across shared-phase-leg iN
related to the amplitude or the current and is independent equals:
of current direction. This makes the modification possible. iN = 2 N × I bias (3)
and when the novel topology is applied, the amplitude of
L1 i1 L6 i6 current across shared-phase-leg iN’ will be:
iNA i2 iNB i7 N
i3
i4
i5 + i8
i9
i10 iN ' = 2 ixn (4)
L5 L10 n =1
A B where ixn is control current of different axis which is
much smaller than Ibias. It is obviously that the current
stress of shared-phase-leg has been greatly reduced.
L1 i1
i2 x1 y1
i3
i4
x2 y2 z
iNA- i5
i6 i7
iNB i8
i9 i10
L10 L1 ia1
ic1
ia2
ic2 ia5
Fig. 7. Principle of shared-bridge converter with reversed direction iN ia3 ic3
ia4
The basic idea for this converter is show in Fig.7. Ten ic4 ic5
windings of AMB are divided into two groups. For each L10
group, the topology of shared-bridge is applied. In order
to reverse the direction of current, the shared-phase-leg
switch is connected to the bottom bus and other phase-leg iN=ia5-ic5=2ix5
switches is connected to the top bus. Then, the shared- Fig. 8. The arrangement of windings to get the smallest shared-phase-
phase-legs of two groups are merged as one phase-leg. leg current.
With the reversed directions of half of winding-
currents, the current across the devices of shared-phase- Furtherly, as shown in Fig.8, the windings can be
leg iN’ equals the difference between iNA and iNB, which arranged in this approach: four windings of one radial
are the sums of winding-currents of group A and B AMB are in same group, and two windings of the thrust
respectively. AMB are in different group, the current across the
shared-phase-leg will be the control current of the axial
TABLE I axis. With this arrangement, the shared-phase-leg-current
COMPARISON OF REQUIREMENTS OF DEVICES FOR DIFFERENT
TOPOLOGIES
can be minimized. If system is free of axial load, the
Switches Diodes PWM Isolated gate driver current can be reduced to nearly zero.
signals power suppliers The comparison for stress of devices in different
Unidirectional
H-bridge
4N 4N 4N 2N+1 topologies when used in a N-axis AMB system are listed
Three-half-
3N 3N 3N N+1
in Table II. The voltage stresses of devices are the same
phase-legs for these topologies, which is the DC-link voltage Vdc.
Shared-bridge
converter
2N+1 2N+1 2N+1 1+1 The current stresses of devices on the normal phase-leg of
Reversed all the topologies are also equal, which is the bias current
shared-bridge 2N+2 2N+2 2N+2 N+1+1
converter
Ibias add or subtract control current ix. The difference is at
devices on the shared-phase-leg of different topologies.
Table I shows the comparison of requirements for The current stress of novel topology is much lower than
others. The reduction of current stress can also reduce the both are fixed at 50%. Fig.10 shows the modulation
EMI of the converter. method. GN1 and GN2 are the gate driver signals of SN1 and
TABLE II
SN2, and G1, G2 are the gate driver signals of S1 and S2. VO,
COMPARISON OF STRESSES FOR DIFFERENT TOPOLOGIES VA and VB are the potentials of point O, A and B
Voltage Number of Current Number Current respectively. The winding current can be increased and
stress normal stress of of stress of
phase-leg normal shared- shared-
decreased by modulating the corresponding switch on the
phase- phase- phase- phase-leg: in Fig.10(a), iL1 can be controlled by increase
leg leg leg or decrease the duty cycle of G1, and same method is
Unidirectional
H-bridge
Vdc 4N Ibias±ix / / used to control iL2 as shown in Fig.10(b). In order to
Three-half-
Vdc 2N Ibias±ix N 2×Ibias decrease the current ripple, the duty cycle for switch of
phase-legs
Shared-bridge
shared-phase-leg is reversed from duty cycle of switches
2N×
converter Vdc 2N Ibias±ix 1
Ibias on the other phase-leg[7]. The circuit will always work at
Reversed freewheeling state with this method.
shared-bridge Vdc 2N Ibias±ix 1 2Σix
converter
GN1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0

VO H L H L H L H L H H L H L H L H L H
Meanwhile, the stresses also determine the switching
loss and conduction loss of devices. It can be seen from G1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
the table that the power losses of devices on first three VA H L H L H L H L H H L H L H L H L H
topologies are almost the same, while the power loss of
devices of novel topology can be greatly reduced as the iL1 iL2
current stress of shared-phase-leg is minimized. The
reduction of loss of converter can improve the efficiency (a) (b)
of whole system.
Fig. 10. Modulation method for current control.
Therefore, the novel topology is more reliable and
more suitable for practical applications. D. Dead Time Compensation
C. Implementation As switches are on both top and bottom of the share-
Operation state and modulation method are introduced phase-leg of the reversed shared-bridge converter, dead
with the basic circuit in Fig.9. time is essential to avoid straight through. However, dead
time will bring effect on current control. In this section,
S2 the influence of dead time and the compensation method
SN1 L1
A will be discussed.
O B iL1<iL2 iL1>iL2
SN2 L2
S1 D1 S2 D1 S2
SN1 L1 L1
Fig. 9. Basic circuit of shared-bridge converter with reversed A A
O B O B
direction. SN2 L2 L2
D2 S1 D2 S1
Consider the middle points for three phase-legs A, B, (a) (b)
O. For either point, if it is connected to negative bus, it is Fig. 11. Current path on share-phase-leg during the dead time
called ‘0’ state. Otherwise, when is connected to the
positive bus and is called ‘1’ state. As listed in Table III, Similarly, the analysis is based on the basic circuit in
there are 8 operation states in total. The values ‘O-A’ and Fig.9. Fig.11 shows the current path on share-phase-leg
‘B-O’ can represent the states for two windings, which during the dead time. In case (a), iL1 is smaller than iL2.
‘1’ is current increasing state, ‘-1’ is current decreasing When two switches are both turning off, the difference
state, and ‘0’ is the freewheeling state. The winding- current between iL1 and iL2 will pass through the top diode
currents can be controlled by combining these states. D1, and the midpoint O is connected to positive DC bus.
TABLE III In case (b), iL1 is larger than iL2, and the midpoint O is
OPERATION STATES OF NOVEL CONVERTER connected to negative DC bus trough bottom diode D2.
A B O O-A B-O
0 0 0 0 0
GN1 1 0 1 0 1 0 1 0 1
0 0 1 1 -1
0 1 0 0 1
0 1 1 1 0 GN2 0 1 0 1 0 1 0 1 0
1 0 0 -1 0
1 0 1 0 -1 VO H L H L H L H L H
1 1 0 -1 1 VOavg=50%

1 1 1 0 0 (a)
In basic shared-bridge converter, the duty cycle of
shared-phase-leg switch is fixed at 50% to decouple the
control for different winding-currents[8]. In novel
converter, PWM signals of two switches one the shared-
phase-leg SN1 and SN2 are set to be complementary and
 iL1>iL2 iL1<iL2

GN1 1 0 1 0 1 0 1 0 1
td

GN2 0 1 0 1 0 1 0 1 0

VO H L H L H L H L H
High speed
VOavg<50% VOavg>50%
motor
(b)
Fig. 12. The potential of midpoint O when dead-time (a)is ignored; Radial magnetic Disturbance Touch down
(b)is considered. bearing bearing bearing

Fig.12 shows the effect of dead time on potential of Fig. 14. 4-axis AMB test rig.
midpoint O. GN1 and GN2 are the gate driver signals of SN1
and SN2 respectively, and VO is the potential of midpoint The main parameters of simulations and experiments
O. When dead time is ignored, midpoint O is at high are the same, and are listed in Table IV.
potential during exactly 50% switching period. The dead
time will break the balance between high potential and
low potential of midpoint as shown in Fig.12(b). The TABLE IV
average potential will be influenced as a result, so that the MAJOR PARAMETERS OF TEST RIG
accuracy of current control may be affected especially Magnetic bearing air gap 500µm (total 1000 µm)
Touch-down bearing air gap 250µm (total 500 µm)
when the magnitude relationship between the two
Shaft Mass m 10kg
currents has changed.
Magnetic bearing winding turns 46/pole
d1 ' = (t1on + td ) / TPWM Winding inductance L 10mH
Yes
Winding resistor R 0.5Ω
d 2 ' = (t2 on − td ) / TPWM force/displacement stiffness kx -2.6×106 N/m
force/current stiffness ki 260 N/A
iL1>iL2? DC link voltage Vdc 160V
Switching frequency fs 20kHz
No d1 ' = (t1on − td ) / TPWM Bias current Ibias 5A

d 2 ' = (t2 on + td ) / TPWM

A. Current Control
Fig. 13. Principle of dead-time compensation.
Simulation of current control was carried out on the
The idea of dead time compensation is to compensate model of a 4-aixs reversed shared-bridge converter. 8
the duty cycle of switches on normal phase-legs. The winding-currents need to be controlled in total. The
principle is shown in Fig.13. Tpwm is time of one simulation result is shown in Fig.15.
switching period. The conduction time ton in one
switching period of switch is added or subtracted the dead
time td according to the magnitude relationship between i5
the two currents. With this method, the average voltage i6
i7
across the winding will not be influenced by dead time. i8
The simulation verification will be shown in next section.

III. SIMULATIONS AND EXPERIMENTS i1

i2
In this section, the functions of current control and i3
dead-time compensation are verified by simulations. And i4
in order to verify the feasibility of novel topology, the
converter was applied on a 4-axis AMB test rig, which is
shown in Fig.14. The shaft is connected to a high speed
motor by a coupling. The shaft is controlled by two radial
magnetic bearings. Two touch-down bearings are set at Fig. 15. Simulation result of current control for 8 windings.
the ends of the shaft to protect the magnetic bearing in
case of control failure. They are also used to support the The reference signals are given differently for each
shaft when AMB doesn’t work. winding: the reference signal i8* kept 0 from begin to the
end, and the other reference signals are 5A at the
beginning, and then step to different values at different
points. The result shows that the current in each winding
can track the respective reference signal. The function of
current control of the novel topology meets the
requirement of AMB drive.
 The comparison experiment of current control between reference signals were given for two windings as (a). The
basic shared-bridge topology and reversed shared-bridge influence in (a) was eliminated. With the dead time
topology has been carried out with the circuits shown in compensation, the control for each winding-current is
Fig.16. Fig.16(a) can be regarded as a basic shared-bridge completely independent.
converter with two windings, and Fig.16(b) is the
reversed shared-bridge converter. iL1
iL2
iin1 iin2
+ + iN2
iN1

iL1 iL2 iL1 iL2

- -

(a) (b)
Fig. 16. Basic circuits of (a)shared-bridge converter; (b)reversed (a)
shared-bridge converter. iL1
iL2

ia ia
ic ic

t(ms) t(ms)
(b)
(a) (b) Fig. 18. Effects of dead-time when compensation is (a)not applied;
(b)applied.

iN1
iN2 C. Suspension and Rotating Experiments
iin1 A prototype for reversed shared-bridge converter was
iin2 established based on the 4-axis AMB test rig, which is
t(ms)
t(ms) shown in Fig.19.
(c) (d)
Fig. 17. Experimental comparison results of two basic topologies:
(a)current control by shared-bridge topology; (b)current control by ia1 ic1 ia3 ic3 ia4 ic4
Shared- ia2 ic2
reversed shared-bridge topology; (c)currents across shared-phase-leg of
two topologies; (d)input dc currents of two topologies. phase-leg

Fig.17 shows the comparison results of two topologies.

The same current commands were given to two
converters: both 5A at the beginning, and change to 7A
and 3A respectively. The result for current control is
shown in Fig.17(a) and (b). Currents of two converters
can track the command signals well. The currents across Fig. 19. Prototype of 4-axis reversed shared-bridge converter.
the shared-phase-leg of two topologies iN1 and iN2 are
shown in Fig.17(c). The shared-phase-leg’s current of
basic topology is the sum of coil currents while it of Inverter
novel topology is the difference. The input currents of
DC bus iin1 and iin2 are shown in Fig.17(d). The input Scope
current of novel topology is always less than the basic DC power

topology’s. It means that the losses can be reduced, and

the efficiency is improved.

B. Dead Time Compensation Reversed shared-

bridge converter
Simulation of dead time compensation was carried out Control Transfer Position
on the basic circuit model as shown in Fig. The results board board sensors

are shown in Fig.18. In (a), compensation is not applied.

If the magnitude relationship between two currents
changed, they will influence each other at the point of
change: when iL1 exceeded iL2 at t1, the amplitude of iL2
varied although the reference signal of iL2 kept constant. Fig. 20. Photograph of AMB control system.
In (b), compensation was put into use, and the same
 And as shown in Fig.20, the control system consists of IV. CONCLUSIONS
the converter, the control board, the transfer board and Low cost and high reliability power electronics
the position sensors. The digital controller on the control converter is required for AMB drive. In this paper, a
board is TMS320F28377D, and the position sensor is novel shared-bridge converter with reversed current
eddy current sensor of Bently Nevada. The DC power is direction has been put forward. Several conclusions can
used to provide the DC-link voltage for converter, and the be summarized from the paper:
inverter is used to drive the high speed motor to rotate the (1) With shared-bridge converter, the cost of multi-
shaft. axis AMB drive can be significantly reduced, but the high
Converter started to work x1 x2 current stress will bring challenge on current carrying
capacity of shared-phase-leg devices. The novel topology
with one more switch and diode can solve this problem
by reversing the directions of half of winding-currents.
Meanwhile, the power loss and EMI of the converter can
Position(μm)

be obviously reduced.
y1 y2 (2) With the fixed duty cycle at 50% of switches on
the shared-phase-leg, current of each winding can be
independently controlled by modulating the
corresponding switch. With the dead-time compensation,
the influence caused by dead-time when the magnitude
Time(s) relationship between the two currents has changed.
Fig. 21. Static suspension experiment result. Simulations have been carried out and validated the
feasibility of the converter for AMB drive.
Fig.21 shows the experimental result of static (3) Prototype of the reversed shared-bridge converter
suspension. The shaft was supported by the touch down has been established based on the 4-axis AMB test rig,
bearing at the beginning. The reference positions were and the experiments have been carried out. The static
given as x1ref=x2ref=y1ref=y2ref=0. Then the converter suspension experiment and the rotating test can fully
started to work, and the shaft was levitated and was verify the shaft can be well controlled with the novel
controlled at the reference position with the tuned converter.
controller. The position errors are less than 10μm at static
suspension.
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