Optimization of Driving Currents of Electromagnets to Rotate Spherical Motors

Akio Gofuku; Yu Yamamoto; Tomoaki Yano; Nagayoshi Kasashima

doi:10.1109/SPEEDAM.2018.8445374

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 proceeding › Conference 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 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	https://doi.org/10.1109/SPEEDAM.2018.8445374
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

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

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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

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

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., 8445374, Institute of Electrical and Electronics Engineers Inc., pp. 1172-1177, 2018 International Symposium on Power Electronics, Electrical Drives, Automation and Motion, SPEEDAM 2018, Amalfi, Italy, 6/20/18. https://doi.org/10.1109/SPEEDAM.2018.8445374

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