Analysis of 2-Degree of Freedom Outer Rotor Spherical Actuator Employing 3-D Finite Element Method

Tsukano, Masahito; Sakaidani, Yo; Hirata, Katsuhiro; Niguchi, Noboru; Maeda, Shuhei; Zaini, Ariff

doi:10.1109/tmag.2012.2237390

Cited by 23 publications

(13 citation statements)

References 9 publications

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“…However, we were not able to confirm any studies for multi-DOF electromagnetic actuators. Moreover, the proposed method have a great potential to apply to a two-DOF spherical actuator [14] because its magnet arrangement is similar to that of the three-DOF resonant actuator.…”

Section: Resultsmentioning

confidence: 99%

Control of three-degree-of-freedom resonant actuator driven by novel vector control

Kato

Hirata

2018

Transportation Systems and Technology

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This paper presents a novel vector control method for three-degree-of-freedom resonant actuator in order to improve its controllability. The effectiveness of the presented method is verified through electromagnetic field analysis using 3-D finite element method: Issue: A three-degree-of-freedom resonant actuator has a great potential to broaden the application range of linear oscillatory actuators because it has a lot of advantages: high efficiency, simple structure, etc. However, this actuator has low controllability because the magnetic structure of each axis is not independent. Aim: To establish a novel vector control technique suitable for our actuator. Materials and methods of the studies: Electromagnetic analysis employing 3-D finite element method. Results: In this study, the novel vector control theory was constructed on the basis of four-phase system. The new dq model was achieved by considering 3-D coordinate transformation. The proposed method is able to decrease the influence of thrust interference from other axis and achieved higher controllability. Conclusion: The results of the study will contribute to a practical use of the three-DOF resonant actuator.

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Section: Resultsmentioning

confidence: 99%

Control of three-degree-of-freedom resonant actuator driven by novel vector control

Kato

Hirata

2018

Transportation Systems and Technology

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“…Depending on the practical case, the magnetic flux density model can be formulated with a variety of methods including the distributed multipoles (DMP) methods [33][34][35][36], which consists in modeling both the stator coils and the PMs as distributed multipoles, the charge and current models [27,[37][38][39], where PM are replaced by an equivalent spatial (volume or surface) distribution of ''magnetic charges'' that is in turn used as a source term in the magnetostatic field equations, the finite element analysis [40], which is widely adopted in the design optimization and model verification of spherical actuators, and the harmonic model [19,30,22,17,41], which is derived by solving Maxwell's equations under certain boundary conditions to express the solution as a series of space spherical harmonic function. A particular approach to the harmonic model method consists in employing boundary conditions measured on all the rotor surface to reconstruct the magnetic flux density model [42,43].…”

Section: Magnetic Flux Density Modelmentioning

confidence: 99%

Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

et al. 2015

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“…However, the first studies on the spherical movement of the axis of an electric motor date back to the 1950s with the works of Williams et al [9][10][11] and Haeussermann et al [12,13]. Since then, several interesting proposals have emerged [14][15][16][17], but the published designs are difficult to reproduce to verify the achieved results [18][19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

et al. 2018

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Abstract:The permanent magnet (PM) spherical motor has been subject to growing interest from the scientific community due to its potential for applications in distinct areas, particularly in robotics, prosthetics, satellite control, sensors or camera systems. Motivated by this movement, the current work presents all the steps for the efficient design and construction of a spherical motor model, using compound deposition technology with the aid of a 3D printer. Furthermore, we report comprehensive studies on the accuracy of the positioning system of the proposed motor using only three stator coils, which jointly act to move the rotor axis toward any point in the hemisphere. Unmodeled nonlinear phenomena, such as friction, impair accurate positioning of the motor actuator, but this is solved by means of a visual servo control system, which allows the user to collect input-output data to train an artificial neural network model. Details on the construction of the proposed motor are reported, in addition to the numerical results of the positioning control in tracking a desired trajectory.

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Analysis of 2-Degree of Freedom Outer Rotor Spherical Actuator Employing 3-D Finite Element Method

Cited by 23 publications

References 9 publications

Control of three-degree-of-freedom resonant actuator driven by novel vector control

Control of three-degree-of-freedom resonant actuator driven by novel vector control

Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

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