Magnetic Field Analysis for the Permanent Magnet Spherical Motor With SMC Core

Li, Hongfeng; Hu, Xuan; Cui, Lifeng

doi:10.1109/tmag.2023.3244617

Cited by 7 publications

(1 citation statement)

References 22 publications

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“…27,28 Notably, disturbance observer techniques have gained increasing attention to enhance disturbance rejection capabilities. 29 The use of an extended sliding mode disturbance observer to estimate and provide feedback compensation based on observed disturbances has proven to be a reliable and effective approach. 30,31 A second-order non-singular terminal sliding mode observer can also be employed to estimate load disturbances, further enhancing disturbance rejection performance.…”

Section: Introduction a Background And Motivationmentioning

confidence: 99%

Fast terminal sliding mode control of agricultural robots with permanent magnet synchronous motor servo systems based on an extended state observer for path tracking

Zhao,

Wang,

et al. 2023

AIP Advances

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In response to the challenges in mobile robot path tracking using model predictive control, where the predictive model weakens the controller’s ability to respond to sudden changes in the reference path curvature and heading, this paper proposes a composite control strategy suitable for agricultural robots. The strategy combines the maximum torque per ampere control and an Extended State Observer (ESO). The paper initially establishes a mathematical model for a Permanent Magnet Synchronous Motor (PMSM) considering aggregated disturbances. It designs a position tracking controller based on a non-singular terminal sliding mode and convergence law. This controller, employing a non-cascaded structure, replaces traditional position and velocity loop controllers and is proven to be stable with finite-time convergence through Lyapunov’s theorem. To enhance the system’s disturbance rejection capabilities further, the paper introduces an ESO to estimate system disturbances and applies it for feedforward compensation. The paper concludes by providing stability proof for the overall PMSM servo system in agricultural robots. Finally, the paper conducts simulations and experimental verifications based on the designed controller, demonstrating that the controller exhibits excellent path tracking performance, fast convergence, and robustness against external disturbances.

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Section: Introduction a Background And Motivationmentioning

confidence: 99%

Fast terminal sliding mode control of agricultural robots with permanent magnet synchronous motor servo systems based on an extended state observer for path tracking

Zhao,

Wang,

et al. 2023

AIP Advances

View full text Add to dashboard Cite

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Modeling and analysis of non-circumferential symmetric permanent magnet spherical motor using genetic algorithm-based torque map method

Zhou,

Li,

Wang

et al. 2024

Review of Scientific Instruments

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A permanent magnet spherical motor (PMSpM) is a typical multiple-degree-of-freedom apparatus. This paper proposes a torque map-based torque model and its counterpart using a genetic algorithm for the PMSpM with non-circumferential symmetric permanent magnets. The basic structure and operating principle of the PMSpM under study are presented. The analytic model of the 3D magnetic field is researched using the spherical harmonic method. The magnetic field model is verified via finite element method (FEM) analysis and an experiment of radial magnetic flux density. The analytic torque model is formulated using the Lorentz force method. The torque maps are established according to the principle, and the torque map-based torque model originates from the maps. FEM and the experimental results prove the correctness of the torque map-based torque model, and real-time performance of the torque model is also estimated. To solve the coil current calculation difficulty, the genetic algorithm is introduced for establishing the reversal torque model; MATLAB simulation is conducted for the convergence speed of the reversal torque model; and the real-time performance is studied on Qt 5.14/C++ upper software.

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Rotor Spherical Region Location of Permanent Magnet Spherical Motor Based on Improved Random Forest

Li,

Zhang,

Zhao

2023

2023 26th International Conference on Electrical Machines and Systems (ICEMS)

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Magnetic Field Analysis for the Permanent Magnet Spherical Motor With SMC Core

Cited by 7 publications

References 22 publications

Fast terminal sliding mode control of agricultural robots with permanent magnet synchronous motor servo systems based on an extended state observer for path tracking

Fast terminal sliding mode control of agricultural robots with permanent magnet synchronous motor servo systems based on an extended state observer for path tracking

Modeling and analysis of non-circumferential symmetric permanent magnet spherical motor using genetic algorithm-based torque map method

Rotor Spherical Region Location of Permanent Magnet Spherical Motor Based on Improved Random Forest

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