DocumentCode :
2383216
Title :
Control of multi-dimensional drives with variable pole pitch
Author :
Kahlen, Klemens ; Voß, Ingo ; De Doncker, Rik W.
Author_Institution :
Inst. for Power Electron. & Electr. Drives, Technische Hochschule Aachen, Germany
Volume :
4
fYear :
2002
fDate :
13-18 Oct. 2002
Firstpage :
2366
Abstract :
The planar motor and the spherical motor presented in this paper possess three degrees of freedom in motion. For this type of motor, special drive components and new control algorithms have to be developed because the machine operates with a variable pole pitch. The implemented control uses nonlinear force characteristics to control force and torque. It is proven that position control can be very accurate, despite the fact that the calculated and measured force characteristics contain uncertainties and errors. Simulations and experiments show that the spherical motor offers a high force and torque generation capability combined with a very precise position control. A planar motor based on the same working principle was built first to test the components and control strategies.
Keywords :
control system analysis; control system synthesis; force control; machine control; machine testing; motor drives; position control; torque control; control algorithms; control performance; degrees of freedom; drive components; force generation capability; force regulation; nonlinear force characteristics; planar motor; position control precision; spherical motor; torque generation capability; torque regulation; variable pole pitch multi-dimensional drives control; working principle; Force control; Force measurement; Magnetic materials; Magnets; Planar motors; Position measurement; Rotors; Stators; Testing; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industry Applications Conference, 2002. 37th IAS Annual Meeting. Conference Record of the
Conference_Location :
Pittsburgh, PA, USA
ISSN :
0197-2618
Print_ISBN :
0-7803-7420-7
Type :
conf
DOI :
10.1109/IAS.2002.1042776
Filename :
1042776
Link To Document :
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