Design and control of the 3 degrees of freedom actuator by controlling the electromagnetic force

被引：0

作者：

Yang, CI ^{[1
]}

Baek, YS ^{[1
]}

机构：

[1] Yonsei Univ, Seodaemoon Ku, Seoul 120749, South Korea

来源：

IEEE TRANSACTIONS ON MAGNETICS | 1999年 / 35卷 / 05期

关键词：

3 DOF actuator; electromagnetic force; spherical DC servo motor; spherical motor;

D O I：

暂无

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：

The novel spherical actuator with 3 D.O.F. and its control method are proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and the stator which have the multi-poles made with the permanent magnets and the electromagnets, respectively. The rotor can make an arbitrary orientation and a spin by interactions among multi-poles of the rotor and the stator. Also the governing equation for torque generation is derived to control the suggested model. This model is controlled with the suggested governing equation and PID control law. The various experimental results are presented to show the validity of the proposed spherical actuator.

引用

页码：3607 / 3609

页数：3

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