Dynamic control of a spherical actuator with orientation measurement feedback

Author

Guo, Fanghong ; Wu, Xingming ; Chen, Weihai ; Liu, Jingmeng

Author_Institution

Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China

fYear

2012

fDate

18-20 July 2012

Firstpage

64

Lastpage

68

Abstract

This paper presents a dynamic control algorithm of a permanent magnetic spherical actuator, which is capable of performing 3-degree-of-freedom (DOF) in a single rotor. This algorithm is based on the orientation measurement feedback of the rotor. As the orientation measurement of the spherical actuator has been a challenging problem so far. An orientation measurement system for the rotor is proposed in this paper and its performance is validated in an experimental platform. The dynamic model is also presented in this paper, which is derived by Lagrange´s equations. The dynamic control algorithm is based on the computed torque method, which can linearize and decouple the control. Simulation results indicate the feasibility of the dynamic control algorithm.

Keywords

feedback; linearisation techniques; magnetic actuators; measurement systems; motion measurement; permanent magnets; rotors; torque control; Lagrange equation; degree of freedom; dynamic control algorithm; linearization; orientation measurement feedback; orientation measurement system; permanent magnetic spherical actuator; rotor; torque method; Actuators; Dynamics; Heuristic algorithms; Mathematical model; Position measurement; Rotors; Torque; computed torque method; dynamic control; orientation measurement; spherical actuator; torque model;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4577-2118-2

Type

conf

DOI

10.1109/ICIEA.2012.6360698

Filename

6360698