A magnetic flux model based method for detecting multi-DOF motion of a permanent magnet spherical motor

被引：37

作者：

Bai, Kun ^{[1
]}

Lee, Kok-Meng ^{[1
,2
]}

Lu, Jinjin ^{[1
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China

[2] Georgia Inst Technol, Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

来源：

MECHATRONICS | 2016年 / 39卷

基金：

中国国家自然科学基金;

关键词：

Back-enif; Spherical motor; Permanent magnet motor; Motion sensing; DESIGN;

D O I：

10.1016/j.mechatronics.2016.06.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new method, referred to here as back-EMF method, for sensing the multi-DOF motion of a permanent magnet spherical motor (PMSM). With an explicit model characterizing the magnetic flux in the PMSM, a relationship between the electromotive force (EMF) induced in the winding of electro-magnets and the motion of the rotor permanent magnets is derived; and closed-form solutions that solves for multi-DOF Euler angles and angular velocities of the rotor are presented. This method allows for simultaneous estimation of both quantities in real-time by only measuring the voltages across the electro-magnets. Requiring no installation of additional sensors or fixtures on the rotor, the back-EMF method retains the structural simplicity of the PMSM. This method has been experimentally investigated on a prototype PMSM; the estimated Euler angles and angular velocities compare favorably with measurements from a commercialized gyroscope. As an immediate application, the motion states acquired using the back-EMF method are used for parameter estimation of the PMSM. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：217 / 225

页数：9

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