Analysis and decoupling control of a permanent magnet spherical actuator

被引:5
作者
Zhang, Liang [1 ]
Chen, Weihai [1 ]
Liu, Jingmeng [1 ]
Wu, Xingming [1 ]
机构
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
基金
高等学校博士学科点专项科研基金;
关键词
TORQUE; DESIGN; FIELD;
D O I
10.1063/1.4833681
中图分类号
TH7 [仪器、仪表];
学科分类号
0804 ; 080401 ; 081102 ;
摘要
This paper presents the analysis and decoupling control of a spherical actuator, which is capable of performing three degree-of-freedom motion in one joint. The proposed actuator consists of a rotor with multiple PM (Permanent Magnet) poles in a circle and a stator with circumferential coils in three layers. Based on this actuator design, a decoupling control approach is developed. Unlike existing control methods that each coil is responsible for both the spinning and tilting motion, the proposed control strategy specifies the function of each coil. Specifically, the spinning motion is governed by the middle layer coils with a step control approach; while the tilting motion is regulated by upper and lower coils with a computed torque control method. Experiments have been conducted on the prototype to verify the validity of the design procedure, and the experimental results demonstrate the effectiveness of the analysis and control strategy. (C) 2013 AIP Publishing LLC.
引用
收藏
页数:10
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