Design and control of a three degree-of-freedom permanent magnet spherical actuator

Chen, Weihai; Liang, Zhenkai; Yan, Liang; Liu, Jingmeng

doi:10.1016/j.sna.2012.04.010

Cited by 48 publications

(31 citation statements)

References 13 publications

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“…Sensing is another aspect that is not covered in this work, but is necessary for this device to function. Rotor position and orientation information is needed in the control laws and could likely be accomplished with hall effect sensors, though other sensing schemes have been examined [84][85][86][87][88][89][90]. In the end, an experimental model would be needed to validate this theoretical 38 work and bring this device closer to realization.…”

Section: Discussionmentioning

confidence: 99%

Spherical Magnetic Dipole Actuator for Spacecraft Attitude Control

Chabot

2016

Journal of Guidance, Control, and Dynamics

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DateThe final copy of this thesis has been examined by the signatories, and we find that both the content and the form meet acceptable presentation standards of scholarly work in the above mentioned discipline. issues. Additionally, a dual actuator system is investigated to provide control redundancy, which is desirable in many missions. Finally, the single actuator system is compared to a cluster of three reaction wheels, illustrating how this device can provide mass, volume, and power savings.

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Section: Discussionmentioning

confidence: 99%

Spherical Magnetic Dipole Actuator for Spacecraft Attitude Control

Chabot

2016

Journal of Guidance, Control, and Dynamics

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“…For this purpose, among the 100 independent runs using the training set with 2800 samples, the best performing MLP (2,25,20,3) network was selected and the weights and biases determined for this network in the experiments were applied to the real spherical motor constructed…”

Section: Evaluating the Chosen Mlp Model On The Prototype Motormentioning

confidence: 99%

“…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

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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.

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“…, the state equation of two stator subsystem from Fig.5 is (14) The equation of state observer is (15) Their closed loop characteristic polynomial is…”

Section: Design Of Synchronous Suspension Control System Based On Stamentioning

confidence: 99%

Suspension Model and Control of Magnetic Levitation Spherical Active Joint

Zeng¹,

Zhong²,

Zhu³

et al. 2017

Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)

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Abstract. In the work, the universal driving joint with the traditional series composite mechanical structure has the friction and wear, which make the moving parts hot, and then causes the static and dynamic performance of the joint worse. So based on the Integration of multi technology domains, such as motors, magnetic levitation and robotics, we present a new magnetic levitation spherical active joint with multi freedom degree. Then the air gap magnetic-energy principle of the electromechanical energy conversion which produces magnetic suspending force and electromagnetic torque is analyzed, and the state synchronous suspension control of rotor based on based on the principle of state reconstruction and self-detection feedback control without sensors are established. The simulation results show that the system has high precision and strong ability of anti-interference.

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Design and control of a three degree-of-freedom permanent magnet spherical actuator

Cited by 48 publications

References 13 publications

Spherical Magnetic Dipole Actuator for Spacecraft Attitude Control

Spherical Magnetic Dipole Actuator for Spacecraft Attitude Control

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

Suspension Model and Control of Magnetic Levitation Spherical Active Joint

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