Dynamic Analysis of Double Excited 3-DOF Motor Modeling Using Equivalent Magnetic Circuit

Abstract

-This paper implements a model of a double excited three-degree-of-freedom motor (3-DOF) coupled with a PI current controller for position control. The rotational trends of the rotor according to the applied steps are identified using a motion equation. The simulation model is a complete electrical and mechanical model of a 3-DOF motor, which mainly consists of mechanical torque equations, a nonlinear equivalent magnetic circuit, and a PI current controller. This machine is tested using the manufactured control board using the same conditions as in the simulation, where the experimental results also verify the accuracy of the simulation results.

Trajectory Planning of Multi-dimensional Actuator based on Improved S-shaped Velocity Curve

“…In the 12 second planning time, the velocity of the rotor output shaft shows an S-shaped trend every 2 seconds. In the 4-6 second analysis, L1-L6 corresponds to the acceleration and deceleration stages of I-III and V-VII in formula (6), and the goodness of fit is 0.9984 and the standard deviation of fitting is 0.007656, which indicates that the quadratic Gaussian fitting method has high accuracy in predicting the parameters of the original velocity curve. The feasibility of the improved trajectory planning algorithm is further illustrated.…”

“…In reference [4], a multi-dimensional spherical wheel motor is proposed and an open-loop controller is designed for its control. In reference [5], [6], based on the principle of spherical harmonic function and equivalent magnetic circuit method, the multidimensional spherical motor with double winding and double excitation is designed respectively. Reference [7] focuses on the application of multi-dimensional actuator and designs an actuator which can be used in curved surface printing technology.…”

Designing Active Disturbance Rejection Control of Permanent Magnetic Spherical Actuator Based on Nonlinear Extended State Observer

“…Therefore, according to the characteristics of the PMSA, a third-order NESO is designed to observe the coupling and disturbance of the system. The extended nonlinear observer is expressed as seen in ( 15 where  is the parameter of the nonlinear function, which is selected in (15), 1 [0.5 0.5 0.5], …”

“…Although the PID control method is simple in design and easy to implement, it is difficult to guarantee the accuracy of this control method when there are external disturbances and uncertain factors, and it is difficult for simple PID control to have a good effect on the complex nonlinear system of PMSA. To reduce the influence of external disturbances and uncertainties on the control system, the sliding mode control is applied to many fields, such as the permanent magnet synchronous generator [14], and so is the PMSA [15], [16]. Although the scheme can overcome the uncertainty of the system and has certain robustness to external disturbances.…”