Drive Current Calculation and Analysis of Permanent Magnet Spherical Motor Based on Torque Analytical Model and Particle Swarm Optimization

Abstract

In order to determine the currents required in different attitudes and torque target conditions, this paper proposes a calculation method for drive currents of permanent magnet spherical motors based on three-dimensional magnetic field, torque analytical model and optimization algorithm. Firstly, an electromagnetic torque analytical model base on equivalent surface currents of a permanent magnet and Lorentz force is proposed. The feasibility and accuracy are verified by comparing results with those by the finite element method. Then, an inverse calculation model of the motor drive current is built by combining the torque analytical model with the Particle Swarm Optimization (PSO) algorithm. At last, using the proposed drive current calculation model, the driving current characteristics of spherical motors under different energization strategies are compared and analyzed. INDEX TERMS Permanent magnet spherical motor, analytical model, electromagnetic torque, drive current, particle swarm optimization.

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“…While AI shows promise, it may encounter limitations in certain scenarios, potentially leading to less-than-optimal results. As the field of spherical motor control advances, researchers strive to refine AI-driven strategies to overcome these obstacles, aiming for an improved control of the multi-degree-of-freedom capabilities of spherical motors [40][41][42][43][44][45][46][47][48][49][50][51].…”

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“…Among them, the permanent magnet spherical motor has become a research hotspot because of its high power density and high efficiency [4,5].The existing permanent magnet spherical motor stator structure can be divided into four types: layered stator, nested stator, claw stator and double stator. The layered stator structure is shown in Figure 1a, and its typical feature is that the stator coil has two layers [6,7] or three layers of coils [8-10] along the axial direction, and each layer of coils is evenly distributed radially or horizontally, with a certain included angle between adjacent layers. By exciting all coils in the circumferential direction, the rotor can rotate around its axis.…”