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

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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

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

CLC Number: 

  • TM351

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