Title :
Dynamic control of a spherical actuator with orientation measurement feedback
Author :
Guo, Fanghong ; Wu, Xingming ; Chen, Weihai ; Liu, Jingmeng
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Abstract :
This paper presents a dynamic control algorithm of a permanent magnetic spherical actuator, which is capable of performing 3-degree-of-freedom (DOF) in a single rotor. This algorithm is based on the orientation measurement feedback of the rotor. As the orientation measurement of the spherical actuator has been a challenging problem so far. An orientation measurement system for the rotor is proposed in this paper and its performance is validated in an experimental platform. The dynamic model is also presented in this paper, which is derived by Lagrange´s equations. The dynamic control algorithm is based on the computed torque method, which can linearize and decouple the control. Simulation results indicate the feasibility of the dynamic control algorithm.
Keywords :
feedback; linearisation techniques; magnetic actuators; measurement systems; motion measurement; permanent magnets; rotors; torque control; Lagrange equation; degree of freedom; dynamic control algorithm; linearization; orientation measurement feedback; orientation measurement system; permanent magnetic spherical actuator; rotor; torque method; Actuators; Dynamics; Heuristic algorithms; Mathematical model; Position measurement; Rotors; Torque; computed torque method; dynamic control; orientation measurement; spherical actuator; torque model;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4577-2118-2
DOI :
10.1109/ICIEA.2012.6360698
