Stable control of magnetically levitated rotors with a high gyroscopic effect is an important subject in the field of rotating machinery. This paper describes a method to address this problem using a cross-coupled control approach. In the low and middle speed range a constant diagonal controller and a speed dependent cross-coupled controller is used. In the high speed range the controller takes advantage of the stabilizing effect of gyroscopes. Hence, no positive diagonal stiffness is required in the high speed range in the tilting control path. The damping of the nutation and precession mode is provided only by the cross-coupled control paths. Thus, no diagonal controller is required for the stabilization of the tilting modes. This circumstance reduces the gain and the bandwidth of the control structure, and therefore decreases the impact of sensor noise and the possibility of destabilizing high frequency flexible modes. In this study the stabilizing effect of magnetically stabilized gyroscopes is derived analytically. Furthermore, the damping effects of the cross-coupled controllers are explained, using the eigenvalues of a simplified system. Simulation results show the output sensitivity of the control structures. Based on this knowledge, the optimal switching point between the control structures can be derived. Finally, experimental results on a turbo-molecular pump validate the effectiveness of the proposed control method.

具有高陀螺效应的磁悬浮转子的稳定控制是旋转机械领域的一个重要课题。本文介绍了一种使用交叉耦合控制方法来解决此问题的方法。在低速和中速范围内，使用恒定对角线控制器和速度相关的交叉耦合控制器。在高速范围内，控制器利用陀螺仪的稳定效果。因此，在倾斜控制路径的高速范围内不需要正对角刚度。章动和进动模式的阻尼仅由交叉耦合的控制路径提供。因此，倾斜模式的稳定不需要对角控制器。这种情况降低了控制结构的增益和带宽，因此降低了传感器噪声的影响和破坏高频灵活模式的可能性。在这项研究中，磁稳定陀螺仪的稳定效果是通过分析推导出来的。此外，使用简化系统的特征值解释了交叉耦合控制器的阻尼效应。仿真结果显示了控制结构的输出灵敏​​度。基于这些知识，可以推导出控制结构之间的最佳切换点。最后，涡轮分子泵的实验结果验证了所提出的控制方法的有效性。使用简化系统的特征值解释了交叉耦合控制器的阻尼效应。仿真结果显示了控制结构的输出灵敏​​度。基于这些知识，可以推导出控制结构之间的最佳切换点。最后，涡轮分子泵的实验结果验证了所提出的控制方法的有效性。使用简化系统的特征值解释了交叉耦合控制器的阻尼效应。仿真结果显示了控制结构的输出灵敏​​度。基于这些知识，可以推导出控制结构之间的最佳切换点。最后，涡轮分子泵的实验结果验证了所提出的控制方法的有效性。