Design and control of the 3 degrees of freedom actuator by controlling the electromagnetic force

Author

Yang, Chang II ; Baek, Yoon Su

Author_Institution

Yonsei Univ., Seoul, South Korea

Volume

35

Issue

5

fYear

1999

fDate

9/1/1999 12:00:00 AM

Firstpage

3607

Lastpage

3609

Abstract

The novel spherical actuator with 3 DOF and its control method are proposed. The proposed 3 DOF spherical actuator is composed of a rotor and a stator which have multi-poles made of permanent magnets and electromagnets, respectively. The rotor can make an arbitrary orientation and a spin by interactions among multi-poles of the rotor and the stator. Also the governing equation for torque generation is derived to control the suggested model. This model is controlled with the suggested governing equation and PD control law. The various experimental results are presented to show the validity of the proposed spherical actuator

Keywords

electromagnetic actuators; electromagnetic forces; electromagnets; machine theory; magnetic variables control; permanent magnets; servomotors; torque; two-term control; 3 DOF actuator; 3 degrees of freedom actuator; EM force control; PD control law; arbitrary orientation; control method; electromagnetic force; electromagnets; multi-poles; permanent magnets; rotor; spherical DC servomotor; spherical actuator; stator; torque generation; Actuators; Electromagnetic forces; Force control; Magnetic flux; Magnetic separation; Permanent magnets; Rotors; Servomotors; Stators; Torque;

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/20.800605

Filename

800605