Design and torque control of an electromechanical integrating toroidal drive

This study develops the electromechanical coupled dynamic equations for an electromechanical integrating toroidal drive system where permanent magnets and magnetic coils replace the normal gear teeth. Thus, meshing occurs without physical contact. The torque transfer function of the control system is derived from the dynamic equations of the drive system. The simulation of the open-loop step torque response of the drive system is achieved. A torque feedback control model is presented and a PI control algorithm is used in order to remove the static torque fluctuation and improve the stability and response of the torque control system. This model has been employed to investigate the quantitative effects of the mechanical and electrical parameters on the overall torque feedback control system of the electromechanical integrating toroidal drive system. Variations of the step response and the frequency response of the closed-loop torque feedback system as functions of the main mechanical and electric parameters are presented. Based on these results, parameters for the feedback control system are selected and good results are achieved. A periodic compensation of the control voltage eliminates fluctuation so the drive system delivers a steady torque.