Torque modeling and control algorithm of a permanent magnetic spherical motor

Author

Qian, Zhe ; Wang, Qunjing ; Ju, Lufeng ; Wang, Anbang ; Liu, Jun

Author_Institution

Sch. of Electr. Eng. & Autom., Hefei Univ. of Technol., Hefei, China

fYear

2009

fDate

15-18 Nov. 2009

Firstpage

1

Lastpage

6

Abstract

A new structure of three degree-of-freedom (3-DOF) spherical motor is presented. The magnetic field of the spherical motor is analyzed by equivalence current method. The torque model of the spherical motor is built according to the interaction of one permanent magnetic (PM) with one electromagnet (EM) derived by Lorentz force method (LFM). The motion singularity is analyzed and the condition number shows that the spherical motor is far away from singularity in workspace. Combined with nonlinear dynamic model and PD control algorithm, simulation of the desired motion is carried out. The simulation results provide reference for motion control research and spherical motor design.

Keywords

PI control; machine control; magnetic fields; nonlinear dynamical systems; permanent magnet motors; Lorentz force method; PD control algorithm; control algorithm; degree-of-freedom spherical motor; electromagnet; equivalence current method; magnetic field; motion singularity analysis; nonlinear dynamic model; permanent magnetic spherical motor; torque modeling; Electromagnetic modeling; Electromagnets; Lorentz covariance; Magnetic analysis; Magnetic fields; Motion analysis; Motion control; PD control; Permanent magnet motors; Torque control; control algorithm; motion singularity; permanent magnetic; spherical motor; torque model;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Machines and Systems, 2009. ICEMS 2009. International Conference on

Conference_Location

Tokyo

Print_ISBN

978-1-4244-5177-7

Electronic_ISBN

978-4-88686-067-5

Type

conf

DOI

10.1109/ICEMS.2009.5382656

Filename

5382656