Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

Rossini, Leopoldo; Onillon, E.; Chételat, Olivier; Perriard, Yves

doi:10.1016/j.mechatronics.2015.07.003

Cited by 22 publications

(10 citation statements)

References 52 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Researchers working on spherical actuators were able to bypass this issue by using harmonic analysis of magnetic field distributions to implement torque control without prior knowledge regarding rotor orientation . Previous attempts at controlling 3‐DOF motors have focused on obtaining an accurate orientation for the rotor and generating appropriate torque for the given rotor orientation.…”

Section: Introductionmentioning

confidence: 99%

“…Previous attempts at controlling 3‐DOF motors have focused on obtaining an accurate orientation for the rotor and generating appropriate torque for the given rotor orientation. However, Rossini et al used the magnetic field distribution of the rotor poles to calculate the required torques directly. The only drawback to their design is that it requires nine analog Hall sensors and the corresponding circuits to read and interpret analog signals in real time.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and control of a permanent magnet spherical wheel motor

et al. 2019

View full text Add to dashboard Cite

We present a permanent magnet-based spherical wheel motor that can be used in omnidirectional mobility applications. The proposed motor consists of a ball-shaped rotor with a magnetic dipole and a hemispherical shell with circumferential air-core coils attached to the outer surface acting as a stator. Based on the rotational symmetry of the rotor poles and stator coils, we are able to model the rotor poles and stator coils as dipoles. A simple physical model constructed based on a torque model enables fast numerical simulations of motor dynamics. Based on these numerical simulations, we test various control schemes that enable constant-speed rotation along arbitrary axes with small rotational attitude error. Torque analysis reveals that the back electromotive force induced in the coils can be used to construct a control scheme that achieves the desired results. Numerical simulations of trajectories confirm that even without explicit methods for correcting the rotational attitude error, it is possible to drive the motor with a low attitude error (<5°) using the proposed control scheme. K E Y W O R D Sactuator, attitude control, distributed multipole model, spherical motor, torque control, torque model

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and control of a permanent magnet spherical wheel motor

et al. 2019

View full text Add to dashboard Cite

show abstract

“…Spherical actuators have several advantages such as a simple structure, a low moment of inertia, and a simple control method compared with conventional multi-degree-of-freedom (DOF) actuating systems that are composed of several single-DOF motors [1]. Therefore, they are expected to be applied in the fields of robotics [2][3][4][5], industrial machinery [6,7] and aerospace [8,9], and have been actively developed. In particular, a permanent magnet synchronous spherical actuator is popular because its torque can be controlled using a torque generating equation around an arbitrary axis.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, a permanent magnet synchronous spherical actuator is popular because its torque can be controlled using a torque generating equation around an arbitrary axis. For this reason, a variety of studies have focused on the permanent magnet synchronous spherical motor [1,[3][4][5][6]8,9].…”

Section: Introductionmentioning

confidence: 99%

Torque Evaluation Method for Multi-Degree-of-Freedom Spherical Actuators Considering Cogging Torque under Current Limiting

Takahara

Hirata

Niguchi

2019

Journal of the Japan Society of Applied Electromagnetics and Me

View full text Add to dashboard Cite

Multi-Degree-of-Freedom (Multi-DOF) actuating systems are composed of several single-DOF motors, which results in large, heavy and complicated structures. In order to solve these problems, various multi-DOF spherical actuators have been actively studied. Among them, a spherical actuator can generate torques in arbitrary positions and directions. However due to this, it is difficult to evaluate the torque characteristics at any position all over the movable range. In order to evaluate the spherical actuators, we proposed a torque evaluation method under copper loss limiting. However, in the proposed method, only copper losses can be considered. In this paper, we propose a new torque evaluation method considering a maximum current limiting. Finally, the torque characteristics of our multi-DOF actuators are evaluated using the proposed method and the effectiveness of the proposed method is verified.

show abstract

“…Current requirements encompasses basically an optimized construction process, simple and accurate positioning control system, large surface of motion, and high torque in the moving axis [15,[25][26][27][28][29]. The possible uses for this type of motor are difficult to list, but in the literature it is possible to find applications in microsatellite control, 3D camera systems (e.g., for simulations of the ballistic movements of the human eye), prosthetics systems for wrists and joints, and in many industrial assembly tools [7,8,16,22,[30][31][32][33].…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

et al. 2018

View full text Add to dashboard Cite

Abstract:The permanent magnet (PM) spherical motor has been subject to growing interest from the scientific community due to its potential for applications in distinct areas, particularly in robotics, prosthetics, satellite control, sensors or camera systems. Motivated by this movement, the current work presents all the steps for the efficient design and construction of a spherical motor model, using compound deposition technology with the aid of a 3D printer. Furthermore, we report comprehensive studies on the accuracy of the positioning system of the proposed motor using only three stator coils, which jointly act to move the rotor axis toward any point in the hemisphere. Unmodeled nonlinear phenomena, such as friction, impair accurate positioning of the motor actuator, but this is solved by means of a visual servo control system, which allows the user to collect input-output data to train an artificial neural network model. Details on the construction of the proposed motor are reported, in addition to the numerical results of the positioning control in tracking a desired trajectory.

show abstract

Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator

Cited by 22 publications

References 52 publications

Design and control of a permanent magnet spherical wheel motor

Design and control of a permanent magnet spherical wheel motor

Torque Evaluation Method for Multi-Degree-of-Freedom Spherical Actuators Considering Cogging Torque under Current Limiting

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

Contact Info

Product

Resources

About