The adaptive control of three-degrees-of-freedom spherical motor

被引：0
|
作者：
Wan, SM
Huang, SH
Fu, GJ
机构：
来源：
1997 IEEE INTERNATIONAL ELECTRIC MACHINES AND DRIVES CONFERENCE RECORD | 1997年
关键词：
D O I：
10.1109/IEMDC.1997.604141
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents the electromagnetic model and the mechanical model of Three-Degrees-of-Freedom Spherical Motor (3DOFSM). The vector control and disturbance torque observer can realize the electromagnetic decoupling rind mechanical decoupling control of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results.
引用
收藏
页码：M2111 / M2113
页数：3
相关论文
共 50 条
  • [41] Principle research on self-decoupled inelastic style piezoelectric three-degrees-of-freedom accelerometer
    Lv, Huayi
    Qin, Lan
    Liu, Jun
    Zhou, Linna
    Duan, Ying
    Mao, Jiubing
    EUROPEAN PHYSICAL JOURNAL-APPLIED PHYSICS, 2014, 67 (02):
  • [42] A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics
    Shen, Huiping
    Chablat, Damien
    Zeng, Boxiong
    Li, Ju
    Wu, Guanglei
    Yang, Ting-Li
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2020, 12 (02):
  • [43] Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet
    Wang, Heng
    Cui, Junhao
    Tian, Kuan
    Han, Yuxiang
    NATURE COMMUNICATIONS, 2023, 14 (01)
  • [44] Three-degrees-of-freedom measurement system for measuring straightness errors and their position based on the Faraday effect
    Zhang, Enzheng
    Teng, Xueying
    Chen, Benyong
    Zhang, Shihua
    Li, Zhaoyang
    APPLIED OPTICS, 2020, 59 (03) : 764 - 770
  • [45] Development of a three-degrees-of-freedom laser linear encoder for error measurement of a high precision stage
    Liu, Chien-Hung
    Jywe, Wen-Yuh
    Wang, Ming-Shi
    Huang, Hsueh-Liang
    IECON 2007: 33RD ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1-3, CONFERENCE PROCEEDINGS, 2007, : 2985 - +
  • [46] Kinematic analysis and dimensional synthesis of a three-degrees-of-freedom hybrid-drive parallel mechanism
    Zhao, Xingyu
    Zhao, Tieshi
    Xu, Xuehan
    Bian, Hui
    Ding, Shixing
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2019, 233 (08) : 2728 - 2752
  • [47] An interval analysis based study for the design and the comparison of three-degrees-of-freedom parallel kinematic machines
    Chablat, D
    Wenger, P
    Majou, F
    Merlet, JP
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2004, 23 (06): : 615 - 624
  • [48] A three-degrees-of-freedom motion error measurement system based on Mach-Zehnder interferometry
    Yu, Qing
    Zou, Tong
    Cheng, Fang
    Su, Hang
    Tjahjowidodo, Tegoeh
    Wang, Yin
    Liu, Ting
    MEASUREMENT, 2024, 238
  • [49] Mobility, Kinematic Analysis, and Dimensional Optimization of New Three-Degrees-of-Freedom Parallel Manipulator With Actuation Redundancy
    Xu, Lingmin
    Li, Qinchuan
    Zhang, Ningbin
    Chen, Qiaohong
    JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, 2017, 9 (04):
  • [50] Three-degrees-of-freedom laser interferometer based on differential wavefront sensing with wide angular measurement range
    Yang, Fuzhong
    Zhang, Ming
    Ye, Weinan
    Wang, Leijie
    APPLIED OPTICS, 2019, 58 (03) : 723 - 728
12345