Driving technique of electromagnets to rotate spherical motors based on torque map

Akio Gofuku, Yu Yamamoto, Tomoaki Yano, Nagayoshi Kasashima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This study develops a technique for rotation control of spherical motors driven by electromagnetic forces. The technique uses the data of generated torque per unit current and cogging torque of an electromagnet that are obtained beforehand at relative positions between the electromagnet and the rotor. An electromagnet placed on the stator of a spherical motor gives two kinds of rotation torques to the rotor. One is the torque by flowing current to the electromagnet. The other is the cogging torque that a permanent magnet on the rotor attracts the iron core of the electromagnet. The torque map expresses the two kinds of rotation torques when the unit current flows to an electromagnet in its various relative position to the rotor. In order to obtain the currents of electromagnets in the case that there are more than three electromagnets on the stator, this paper proposes a technique applying the Lagrange multiplier method under a constraint condition. This paper shows an example to obtain the currents of electromagnets by the proposed technique in the case that five electromagnets are arranged at the vertices of regular pentagon.

Original languageEnglish
Title of host publication2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages861-865
Number of pages5
ISBN (Electronic)9781509020676
DOIs
Publication statusPublished - Jul 28 2016
Event2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2016 - Capri, Italy
Duration: Jun 22 2016Jun 24 2016

Other

Other2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2016
CountryItaly
CityCapri
Period6/22/166/24/16

Keywords

  • electromagnetic force
  • Lagrange multiplier method
  • rotation control
  • spherical motor
  • torque map

ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Electrical and Electronic Engineering

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  • Cite this

    Gofuku, A., Yamamoto, Y., Yano, T., & Kasashima, N. (2016). Driving technique of electromagnets to rotate spherical motors based on torque map. In 2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2016 (pp. 861-865). [7525815] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SPEEDAM.2016.7525815