DocumentCode
1671122
Title
The adaptive control of three-degrees-of-freedom spherical motor
Author
Shanming, Wan ; Shenghua, Huang ; Fu Guangjie
Author_Institution
Dept. of Electr. Power Eng., Huazhong Univ. of Sci. & Technol., Hubei, China
fYear
1997
Abstract
This paper presents the electromagnetic model and the mechanical model of three-degrees-of-freedom spherical motor (3DOFSM). The vector control and disturbance torque observer can realize the electromagnetic decoupling and mechanical decoupling control of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results
Keywords
adaptive control; electric motors; machine control; robust control; servomotors; adaptive control; disturbance torque observer; dynamic performance; electromagnetic decoupling control; electromagnetic model; mechanical decoupling control; mechanical model; robustness improvement; servomechanism; three-degrees-of-freedom spherical motor; vector control; Actuators; Adaptive control; Couplings; Electromagnetic modeling; Machine vector control; Magnetic fields; Magnetic flux; Nonlinear equations; Permanent magnet motors; Stators;
fLanguage
English
Publisher
ieee
Conference_Titel
Electric Machines and Drives Conference Record, 1997. IEEE International
Conference_Location
Milwaukee, WI
Print_ISBN
0-7803-3946-0
Type
conf
DOI
10.1109/IEMDC.1997.604141
Filename
604141
Link To Document