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

Author

Guo, Chen ; Xia, Changliang

Author_Institution

Dept. of Electr. Eng. & Autom., Tianjin Univ., Tianjin

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

2090

Lastpage

2094

Abstract

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.

Keywords

machine control; multivariable systems; nonlinear dynamical systems; permanent magnet motors; torque; Halbach array permanent magnet spherical motor; computed torque method; dynamic decoupling control algorithm; inter-axis nonlinear coupling; mechanical structure; multivariable nonlinear coupling system; positioning precision; response speed; Coils; Couplings; Equations; Heuristic algorithms; Lagrangian functions; Motion control; Nonlinear dynamical systems; Permanent magnet motors; Rotors; Torque control; Halbach array; computed torque method; dynamic decoupling control; inter-axis nonlinear coupling; permanent magnet spherical motor;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522491

Filename

4522491