Title :
Current optimization of 3-DOF permanent magnet spherical motor
Author :
Zhang, Liang ; Yan, Liang ; Chen, Weihai ; Liu, Jingmeng
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
This paper presents a novel two level current optimization algorithm for the control of the spherical motor. The proposed spherical motor consists of a rotor with 8 cylindrical permanent magnet (PM) poles and a stator with 24 air-core coils. An analytical expression of the torque model is obtained based on finite-element method. Based on this expression, the relationship between the motor torque and the coil current input is acquired. In order to make better use of the redundant coils, the space geometry method is exploited to study the redundant feature of the spherical motor. The current optimization algorithm is designed in two levels, which can not only minimize the energy consumption of the spherical motor, but also improve the stability and reliability of the spherical motor greatly.
Keywords :
coils; finite element analysis; machine control; permanent magnet motors; stators; torque; 3-DOF permanent magnet spherical motor; air-core coils; coil current; current optimization algorithm; cylindrical permanent magnet poles; energy consumption; finite-element method; motor torque; space geometry method; spherical motor control; stator; Coils; Force; Optimization; Permanent magnet motors; Rotors; Stators; Torque; current optimization algorithm; redundant; spherical motor; torque model;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
DOI :
10.1109/ICIEA.2011.5975753