Abstract
A spherical motor has advantageous features to construct a mechanism with multi-degree of freedom because it can rotate in any direction and the rotation center coincides with its geometrical center. This paper deals with a spherical motor such that permanent magnets are arranged on the surface of its rotor and electromagnets are arranged in the stator. When more than three linear-independent electromagnets are installed in this type of spherical motor, an optimization problem should be solved under some constraint conditions and an objective function. This paper proposes a technique to solve the optimization problem in order to calculate the currents to electromagnets for each relative rotation angle between the rotor and the stator by applying the generalized reduced gradient method. The technique makes possible to use a convex function as the objective function. The applicability of the proposed technique is demonstrated by an example to calculate the currents to electromagnets for a spherical motor that twelve permanent magnets and ten electromagnets are installed.
| Original language | English |
|---|---|
| Title of host publication | SPEEDAM 2018 - Proceedings |
| Subtitle of host publication | International Symposium on Power Electronics, Electrical Drives, Automation and Motion |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1172-1177 |
| Number of pages | 6 |
| ISBN (Print) | 9781538649411 |
| DOIs | |
| Publication status | Published - Aug 23 2018 |
| Event | 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2018 - Amalfi, Italy Duration: Jun 20 2018 → Jun 22 2018 |
Other
| Other | 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2018 |
|---|---|
| Country | Italy |
| City | Amalfi |
| Period | 6/20/18 → 6/22/18 |
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Keywords
- Generalized reduced gradient method
- Optimization
- Rotation control
- Spherical motor
- Torque map
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering
- Mechanical Engineering
- Control and Optimization
Cite this
Optimization of Driving Currents of Electromagnets to Rotate Spherical Motors. / Gofuku, Akio; Yamamoto, Yu; Yano, Tomoaki; Kasashima, Nagayoshi.
SPEEDAM 2018 - Proceedings: International Symposium on Power Electronics, Electrical Drives, Automation and Motion. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1172-1177 8445374.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Optimization of Driving Currents of Electromagnets to Rotate Spherical Motors
AU - Gofuku, Akio
AU - Yamamoto, Yu
AU - Yano, Tomoaki
AU - Kasashima, Nagayoshi
PY - 2018/8/23
Y1 - 2018/8/23
N2 - A spherical motor has advantageous features to construct a mechanism with multi-degree of freedom because it can rotate in any direction and the rotation center coincides with its geometrical center. This paper deals with a spherical motor such that permanent magnets are arranged on the surface of its rotor and electromagnets are arranged in the stator. When more than three linear-independent electromagnets are installed in this type of spherical motor, an optimization problem should be solved under some constraint conditions and an objective function. This paper proposes a technique to solve the optimization problem in order to calculate the currents to electromagnets for each relative rotation angle between the rotor and the stator by applying the generalized reduced gradient method. The technique makes possible to use a convex function as the objective function. The applicability of the proposed technique is demonstrated by an example to calculate the currents to electromagnets for a spherical motor that twelve permanent magnets and ten electromagnets are installed.
AB - A spherical motor has advantageous features to construct a mechanism with multi-degree of freedom because it can rotate in any direction and the rotation center coincides with its geometrical center. This paper deals with a spherical motor such that permanent magnets are arranged on the surface of its rotor and electromagnets are arranged in the stator. When more than three linear-independent electromagnets are installed in this type of spherical motor, an optimization problem should be solved under some constraint conditions and an objective function. This paper proposes a technique to solve the optimization problem in order to calculate the currents to electromagnets for each relative rotation angle between the rotor and the stator by applying the generalized reduced gradient method. The technique makes possible to use a convex function as the objective function. The applicability of the proposed technique is demonstrated by an example to calculate the currents to electromagnets for a spherical motor that twelve permanent magnets and ten electromagnets are installed.
KW - Generalized reduced gradient method
KW - Optimization
KW - Rotation control
KW - Spherical motor
KW - Torque map
UR - http://www.scopus.com/inward/record.url?scp=85053828530&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053828530&partnerID=8YFLogxK
U2 - 10.1109/SPEEDAM.2018.8445374
DO - 10.1109/SPEEDAM.2018.8445374
M3 - Conference contribution
SN - 9781538649411
SP - 1172
EP - 1177
BT - SPEEDAM 2018 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
ER -