Three-dimensional motor suitable for robotics and its decoupling control

The electromagnetic model and mechanical model of a three-dimensional motor (3DM) suitable for robotics have been developed. There exist complex nonlinear coupling relationships among its inner structures, which seriously restrict the control performance of 3DM. Firstly, the electromagnetical model and mechanical model of the 3DM are proposed. Then its electromagnetic decoupling control theory is introduced. A Gopinath´s method based observer is used to compensate the coupling torques and load torques so as to implement the mechanical decoupling and feedforward control of the 3DM. A kind of hybrid digital-to-analog circuit based on 8098 CPU is made to control the running of the 3DM. The simulation and experimental results given in this paper show that a servo system using a 3DM based on this theory has good servo tracing performance