Title :
A novel spherical actuator: design and control
Author :
Wang, Jiabin ; Jewel, Geraint W. ; Howe, David
Author_Institution :
Dept. of Electron. & Electr. Eng., Sheffield Univ., UK
fDate :
9/1/1997 12:00:00 AM
Abstract :
The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust control law is applied, and its effectiveness is demonstrated by computer simulation
Keywords :
acceleration control; control system analysis computing; control system synthesis; electric actuators; machine control; machine theory; optimal control; permanent magnet machines; robust control; torque control; actuator dynamics; analytical actuator model; computer simulation; control design; control simulation; maximum acceleration design; optimal design procedure; robust control law; specific torque; spherical permanent magnet actuator; two degrees-of-freedom; Acceleration; Actuators; Analytical models; Magnetic analysis; Manipulator dynamics; Payloads; Permanent magnets; Robots; Robust control; Torque control;
Journal_Title :
Magnetics, IEEE Transactions on
