Direct Field-Feedback Control of a Ball-Joint-Like Permanent-Magnet Spherical Motor
Mechatronics, IEEE/ASME Transactions(2014)
摘要
This paper presents an alternative method utilizing real-time measurements of existing rotor magnetic field in the feedback loop for multi degree-of-freedom (DOF) orientation control of a permanent-magnet spherical motor (PMSM) characterized with redundant inputs. As the direct field-feedback control (DFC) system requires only measured magnetic fields, it eliminates the need of an external orientation sensing system and its major components can operate independently and permit parallel processing. The DFC method greatly reduces accumulated errors and time delay due to serial computations commonly encountered in existing methods that rely on orientation-dependent models for feedback control of a multi-DOF PMSM. In this paper, the method for determining the bijective relationship between the rotor orientation and measured magnetic field is presented, which enables the replacement of the orientation error by the magnetic field error in the control law. Using analytical magnetic field and torque models, the DFC design method is illustrated with two examples: a one-DOF motion system and a three-DOF PMSM; the latter has been experimentally implemented, for which an embedded multisensor system with connected bijective domains is designed. Excellent trajectory control results were obtained validating the concept feasibility of the DFC method for the PMSM.
更多查看译文
关键词
attitude control,embedded systems,feedback,intelligent sensors,machine vector control,magnetic field measurement,permanent magnet motors,position control,rotors,sensor fusion,dfc design method,accumulated error reduction,analytical magnetic field,ball-joint-like permanent-magnet spherical motor,connected bijective domains,direct field-feedback loop control system,embedded multisensor system,external orientation sensing system,magnetic field error,multidegree-of-freedom orientation control,one-dof motion system,orientation-dependent models,permit parallel processing,real-time measurements,redundant inputs,rotor magnetic field,rotor orientation,three-dof pmsm,time delay,torque models,trajectory control,direct field feedback,magnetic field measurements,multisensor system,orientation control,permanent-magnet motor,spherical motor
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络