Optimization of Driving Currents of Electromagnets to Rotate Spherical Motors

Akio Gofuku, Yu Yamamoto, Tomoaki Yano, Nagayoshi Kasashima

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

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 languageEnglish
Title of host publicationSPEEDAM 2018 - Proceedings
Subtitle of host publicationInternational Symposium on Power Electronics, Electrical Drives, Automation and Motion
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1172-1177
Number of pages6
ISBN (Print)9781538649411
DOIs
Publication statusPublished - Aug 23 2018
Event2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2018 - Amalfi, Italy
Duration: Jun 20 2018Jun 22 2018

Other

Other2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2018
CountryItaly
CityAmalfi
Period6/20/186/22/18

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

Fingerprint Dive into the research topics of 'Optimization of Driving Currents of Electromagnets to Rotate Spherical Motors'. Together they form a unique fingerprint.

  • Cite this

    Gofuku, A., Yamamoto, Y., Yano, T., & Kasashima, N. (2018). Optimization of Driving Currents of Electromagnets to Rotate Spherical Motors. In SPEEDAM 2018 - Proceedings: International Symposium on Power Electronics, Electrical Drives, Automation and Motion (pp. 1172-1177). [8445374] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SPEEDAM.2018.8445374