Equivalent energized coil model for magnetic field of permanent-magnet spherical actuators

Yan, Liang; Wu, Zewu; Zhang, Jiao; Chen, Chin-Yin; Chen, I‐Ming

doi:10.1016/j.sna.2015.03.016

Cited by 18 publications

(4 citation statements)

References 35 publications

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“…In the process of research in recent decades, spherical motors with various structures and principles such as induction, permanent magnet (PM), and ultrasonic have been produced [6][7][8]. The spherical motors usually refer to the multi-DOF motors with spherical rotors.…”

Section: Introductionmentioning

confidence: 99%

“…The spherical motors usually refer to the multi-DOF motors with spherical rotors. As for the permanent magnet spherical motor in [7], its rotor is composed of two spherical surfaces, on which the PM poles are distributed symmetrically. It is worth noting that the distribution of stator coils and the PM poles are extended into three dimensional space.…”

Section: Introductionmentioning

confidence: 99%

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Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation

Wang

Zhang

et al. 2021

Electronics

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A multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PMSpA control system may be deteriorated. In order to keep the PMSpA with good trajectory tracking performance, this paper designs a time delay estimation controller based on gradient compensation. Firstly, the dynamic model of the PMSpA with nonlinear terms is derived. The nonlinear terms in the complex dynamic model can be simplified and estimated by the time delay estimation method. Secondly, for the estimation errors caused by time delay control, a gradient compensator is introduced to further correct and compensate for it. Furthermore, the stability of the designed controller is proved by the Lyapunov equation. Finally, the correctness and effectiveness of the controller are validated by comparison with other controllers through simulation. In addition, experimental results have also shown that the control accuracy of the spherical motor can be effectively improved using the proposed controller.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation

Wang

Zhang

et al. 2021

Electronics

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“…A different motor category, that of spherical motors [1][2][3][4], include machines that produce motion along the surfaces of hemispheres. This category has been drawn much attention in the last decades due to the potential of applications [5][6][7][8].…”

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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“…For the different structure of the of the actuator, the different control algorithm should be designed. [1][2][3][4][5][6][7] Single DOF servo motor is studied deeply ,more and more control strategy and control algorithms are proposed [8] and the control theory is been developed vigorously. [9] Since the space scalability of the spherical actuator, the control method should be based on the attitude detection algorithm.…”

Section: Introductionmentioning

confidence: 99%

Research on the Relative Coordinate Transformation and Relative Position Detection System of 3-DOF Spherical Actuator

Fang

Sun

2016

International Journal on Smart Sensing and Intelligent Systems

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The attitude detection of 3-DOF actuator is an important technology of 3-DOF spherical actuator control. For the space attitude change of the stator and the traditional detection method is invalid, the relative coordinate transformation is proposed in this paper, through the analysis of the coordinate systems of the spherical actuator. The transformed relative coordinate data is proved by using MATLAB platform. The traditional coordinate transformation and the relative coordinate transformation are compared in this paper. Using the relative coordinate transformation algorithm, the relative position detection system based on the MEMS six-axis sensor is designed. Using two sensors to detect both the attitude of the stator and the rotor, the relative position detection system is realized. The data received from sensor transformed by this method is used to verify the feasibility.

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Equivalent energized coil model for magnetic field of permanent-magnet spherical actuators

Cited by 18 publications

References 35 publications

Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation

Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation

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

Research on the Relative Coordinate Transformation and Relative Position Detection System of 3-DOF Spherical Actuator

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