Design and Control of a Three-Coil Permanent Magnet Spherical Motor

被引：7

作者：

Souza, Kleymilson N. ^{[1
,2
]}

Pontes, Ricardo S. T. ^{[1
]}

Oliveira, Andressa P. ^{[2
]}

Barreto, Guilherme A. ^{[3
]}

机构：

[1] Univ Fed Ceara, Dept Elect Engn, Ctr Technol, Campus Pici, BR-60455900 Fortaleza, Ceara, Brazil

[2] Fed Univ Western Bahia, Dept Elect Engn, Campus Lapa, BR-47600000 Bom Jesus De Lapa, Bahia, Brazil

[3] Univ Fed Ceara, Ctr Technol, Dept Teleinformat Engn, Campus Pici, BR-60455900 Fortaleza, Ceara, Brazil

来源：

ENERGIES | 2018年 / 11卷 / 08期

基金：

巴西圣保罗研究基金会;

关键词：

spherical motor; visual motor control; neural networks; prototype construction; positioning control; design validation; NEURAL-NETWORK; OPTICAL SENSOR; ACTUATOR; FREEDOM; OPTIMIZATION; ROTOR; FIELD; ORIENTATION; TRACKING; SYSTEMS;

D O I：

10.3390/en11082009

中图分类号：

TE [石油、天然气工业]; TK [能源与动力工程];

学科分类号：

0807 ; 0820 ;

摘要：

The permanent magnet (PM) spherical motor has been subject to growing interest from the scientific community due to its potential for applications in distinct areas, particularly in robotics, prosthetics, satellite control, sensors or camera systems. Motivated by this movement, the current work presents all the steps for the efficient design and construction of a spherical motor model, using compound deposition technology with the aid of a 3D printer. Furthermore, we report comprehensive studies on the accuracy of the positioning system of the proposed motor using only three stator coils, which jointly act to move the rotor axis toward any point in the hemisphere. Unmodeled nonlinear phenomena, such as friction, impair accurate positioning of the motor actuator, but this is solved by means of a visual servo control system, which allows the user to collect input-output data to train an artificial neural network model. Details on the construction of the proposed motor are reported, in addition to the numerical results of the positioning control in tracking a desired trajectory.

引用

页数：17

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