吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (2): 560-566.doi: 10.13229/j.cnki.jdxbgxb201402044

• 论文 • 上一篇    下一篇

三自由度永磁球形电机的建模和电压控制

刘敬猛, 孟艳艳, 陈伟海, 吴星明   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2012-11-08 出版日期:2014-02-01 发布日期:2014-02-01
  • 通讯作者: 陈伟海(1955- ),男,教授,博士生导师.研究方向:机器人,电机控制.E-mail:whchenbuaa@126.com E-mail:whchenbuaa@126.com
  • 作者简介:刘敬猛(1967- ),男,副教授.研究方向:电机设计与控制,机器人技术.E-mail:jmliubuaa@126.com
  • 基金资助:

    国家自然科学基金项目(50975017);高等学校博士学科点专项科研基金项目(20101102110006).

Model and control of a PM spherical actuator based on voltage model

LIU Jing-meng, MENG Yan-yan, CHEN Wei-hai, WU Xing-ming   

  1. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
  • Received:2012-11-08 Online:2014-02-01 Published:2014-02-01

摘要:

为了提高三自由度永磁球形电机的运动性能、控制效率和减少控制成本,对具有三维位置检测功能的三自由度永磁球形电机的控制方法进行了研究。首先建立了三自由度永磁球形电机的磁场模型、动力学模型、力矩模型和反电动势模型,并分析其运动控制机理。在此基础上求解永磁球形电机的电压平衡方程和动力学方程,得到永磁球形电机的控制模型,并结合PID控制方法,提出了永磁球形电机的基于电压模型的PID闭环控制方法。仿真结果表明,提出的电压控制方法与传统的电流力矩控制法相比可以明显提高球形电机的运动性能。

关键词: 电气工程, 永磁球形电机, 电压控制, 磁场模型, 反电动势模型

Abstract:

In order to improve movement performance and control efficiency, and to save the cost of the control system of the three-DOF permanent magnet spherical motor, this paper studies a three-DOF permanent magnet spherical motor with three-dimensional position detection and its control method. The magnetic field model, the dynamic model, the torque model and the back-EMF model of permanent magnet spherical motor were established. The motion control mechanism was analyzed. Based on these models, the voltage balance equation and kinetic equation of the spherical motor were put forward and the control model was established. Applying the PID control method, the closed-loop control method of the spherical motor was obtained. Simulation results show that, compared with the current torque method, the control method proposed in this paper can greatly improve the movement performance.

Key words: electrical engineering, spherical actuator, voltage control, magnetic model, voltage model

中图分类号: 

  • TM351

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