Abstract In this work, a new backstepping control algorithm is developed for accurate suspension of the rotating impeller in the artificial heart based on supported magnetic suspension system. The magnet suspension system of the artificial heart ventricle consists mainly of the proposed controller and magnetic coils. The controller is used to actuate the magnetic coils with required currents to establish the magnetic field necessary for suspending the impeller at accurate position. Two pairs of magnetic coils at each end of the rotor are responsible for suspension in both vertical and horizontal planes such as three-dimension suspension control is achieved. The backstepping control algorithm is developed using the stability analysis based on the Lyapunov theory. The design parameters of backstepping controller have direct impact on the performance of controlled system. The present work suggested Particle Swarm Optimization technique for tuning these design parameters toward better performance of proposed controller. The effectiveness of the optimized backstepping controller is verified via computer simulation within MATLAB/SIMULINK environment.

中文翻译：

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一种新型人工心室泵磁叶轮轴承系统最优反步控制算法的开发

摘要 在这项工作中，开发了一种新的反步控制算法，用于基于支撑磁悬浮系统的人工心脏中旋转叶轮的精确悬浮。人工心室的磁悬浮系统主要由所提出的控制器和磁线圈组成。控制器用于以所需的电流驱动磁性线圈，以建立将叶轮悬浮在准确位置所需的磁场。转子两端的两对磁线圈负责垂直和水平面的悬浮，实现三维悬浮控制。使用基于李雅普诺夫理论的稳定性分析开发了反步控制算法。反步控制器的设计参数直接影响被控系统的性能。目前的工作建议使用粒子群优化技术来调整这些设计参数，以获得更好的控制器性能。通过在 MATLAB/SIMULINK 环境中的计算机仿真验证了优化的反步控制器的有效性。