A dynamic decoupling control algorithm for Halbach array permanent magnet spherical motor based on computed torque method

被引：4
|
作者：
Guo, Chen [1 ]
Xia, Changliang [1 ]
机构：
[1] Tianjin Univ, Dept Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
Halbach array; permanent magnet spherical motor; dynamic decoupling control; inter-axis nonlinear coupling; computed torque method;
D O I：
10.1109/ROBIO.2007.4522491
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A Halbach array permanent magnet spherical motor (HPMSM) can provide 3 degrees-of-freedom motion in a single joint, simplify the mechanical structure greatly, improve the positioning precision and response speed. However, a HPMSM is a multivariable, nonlinear and strong coupling system with serious inter-axis nonlinear coupling. The dynamic model of a HPMSM is described in this paper, and a control algorithm based on computed torque method is proposed to realize the dynamic decoupling control of the HPMSM. Simulations results indicate that this algorithm can make the system track continues trajectory ideally and eliminate the influences of inter-axis nonlinear coupling effectively to achieve a good control performance.
引用
收藏
页码：2090 / 2094
页数：5
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