Development of a Novel Optimal Backstepping Control Algorithm of Magnetic Impeller-Bearing System for Artificial Heart Ventricle Pump
Amjad J. Humaidi, Saleem Khalefa Kadhim, Ahmed Sharhan Gataa
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.