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

被引：4
|
作者：
Guo, Chen [1 ]
Xia, Changliang [1 ]
机构：
[1] Tianjin Univ, Dept Elect Engn & Automat, Tianjin 300072, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
Halbach array; permanent magnet spherical motor; dynamic decoupling control; inter-axis nonlinear coupling; computed torque method;
D O I：
10.1109/ROBIO.2007.4522491
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2090 / 2094
页数：5
相关论文
共 50 条
  • [1] Control for trajectory tracking of permanent magnet spherical motor based on computed torque method
    Li, Hongfeng
    Song, Zhenhui
    Guo, Chen
    Li, Bin
    Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2013, 46 (11): : 991 - 997
  • [2] Analyzing and Calculating of the Cogging Torque of Halbach Array Permanent Magnet Motor
    Liu, Lin
    Gao, Qi Xing
    Luo, Zheng Hao
    Jing, Li Bing
    2015 IEEE INTERNATIONAL CONFERENCE ON APPLIED SUPERCONDUCTIVITY AND ELECTROMAGNETIC DEVICES (ASEMD), 2015, : 27 - 28
  • [3] Study on the position identification of a Halbach array permanent magnet spherical motor
    Li, Bin
    Xia, Changliang
    Li, Hongfeng
    Guan, Ying
    2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, : 2080 - 2084
  • [4] Adaptive Fuzzy Decoupling Control for Permanent Magnet Spherical Motor Dynamic System
    Guo, Xiwen
    Wang, Qunjing
    Li, Guoli
    Qian, Zhe
    Wen, Yan
    Zhao, Yuan
    Yin, Yaqin
    2014 17TH INTERNATIONAL CONFERENCE ON ELECTRICAL MACHINES AND SYSTEMS (ICEMS), 2014, : 2192 - 2196
  • [5] Torque calculation method of a permanent magnet spherical motor
    Lee H.-W.
    Kang D.-W.
    Lee J.
    Journal of Electrical Engineering and Technology, 2010, 5 (03): : 431 - 434
  • [6] Torque Calculation Method of a Permanent Magnet Spherical Motor
    Lee, Hyung-Woo
    Kang, Dong-Woo
    Lee, Ju
    JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY, 2010, 5 (03) : 431 - 434
  • [7] 3-D Magnetic Field and Torque Analysis of a Novel Halbach Array Permanent-Magnet Spherical Motor
    Xia, Changliang
    Li, Hongfeng
    Shi, Tingna
    IEEE TRANSACTIONS ON MAGNETICS, 2008, 44 (08) : 2016 - 2020
  • [8] Method for implementing torque decoupling control in fault tolerant permanent magnet motor for aircraft
    Department of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China
    Xibei Gongye Daxue Xuebao, 2007, 6 (809-813):
  • [9] Torque Calculation of Permanent Magnet Spherical Motor Based on Virtual Work Method
    Li, Hongfeng
    Zhao, Yanfen
    Li, Bin
    Li, Guidan
    Cui, Lifeng
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (09) : 7736 - 7745
  • [10] A Neural-Network-Identifier and Fuzzy-Controller-Based Algorithm for Dynamic Decoupling Control of Permanent-Magnet Spherical Motor
    Xia, Changliang
    Guo, Chen
    Shi, Tingna
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2010, 57 (08) : 2868 - 2878
12345