Closed-Loop Black-Box Identification of Active Magnetic Bearing System Under Decentralized Control

Active magnetic bearings (AMBs) require accurate dynamic models for controller design and performance analysis, but their inherent open-loop instability makes modeling difficult under practical operating conditions. This study presents a closed-loop black-box identification method for an AMB system under decentralized control. A pseudo-random binary sequence (PRBS) excitation was injected into the closed-loop system, and the measured input–output data were used to estimate a nonparametric frequency-response model. The effects of excitation amplitude were first examined, and an excitation level of about 10–12% of the saturation current was found to provide a suitable balance among coherence, signal-to-noise ratio, and frequency-response variance. Based on the obtained frequency-domain data, ARX, output-error (OE), and state-space (SS) models were identified and compared. An initial model order range was estimated using the ARX structure and quantitative criteria, including the loss function and Bayesian information criterion. Within this candidate range, different model structures and orders were further evaluated. The 7th-order SS model showed the best overall agreement with the nonparametric frequency response and captured the dominant dynamic features more accurately. Independent time-domain validation and closed-loop reconstruction further confirmed that the selected SS model can represent the practical AMB dynamics with acceptable accuracy.