Title :
The adaptive control of three-degrees-of-freedom spherical motor
Author :
Shanming, Wan ; Shenghua, Huang ; Fu Guangjie
Author_Institution :
Dept. of Electr. Power Eng., Huazhong Univ. of Sci. & Technol., Hubei, China
Abstract :
This paper presents the electromagnetic model and the mechanical model of three-degrees-of-freedom spherical motor (3DOFSM). The vector control and disturbance torque observer can realize the electromagnetic decoupling and mechanical decoupling control of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results
Keywords :
adaptive control; electric motors; machine control; robust control; servomotors; adaptive control; disturbance torque observer; dynamic performance; electromagnetic decoupling control; electromagnetic model; mechanical decoupling control; mechanical model; robustness improvement; servomechanism; three-degrees-of-freedom spherical motor; vector control; Actuators; Adaptive control; Couplings; Electromagnetic modeling; Machine vector control; Magnetic fields; Magnetic flux; Nonlinear equations; Permanent magnet motors; Stators;
Conference_Titel :
Electric Machines and Drives Conference Record, 1997. IEEE International
Conference_Location :
Milwaukee, WI
Print_ISBN :
0-7803-3946-0
DOI :
10.1109/IEMDC.1997.604141
