Abstract
This paper describes a new method for driving electromagnetic type spherical motors that has arranged permanent magnets on a rotor and arranged electromagnets on a stator. The most significant feature of this method is, in principle, applicable to any permanent magnets arrangement and electromagnets arrangement, and it can generate torque to any direction from any rotor attitude. In the spherical motor, cogging torque between permanent magnets and electromagnets causes not only instability of rotation but also causes rotor attitude error because the rotor has three degrees of freedom. The method of canceling the cogging torque is introduced. In the case of arranging four or more electromagnets, the combination of the electric current supply becomes infinite in number and generally not determined uniquely. However, we have developed a method for deciding the electric current distribution that generates maximum torque under the limited supply of each electromagnet. In the experiment of open-loop control, it was confirmed that the rotor was able to rotate about the axes that had been set by the calculation.
| Original language | English |
|---|---|
| Article number | 7442175 |
| Pages (from-to) | 2050-2060 |
| Number of pages | 11 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 21 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - Aug 1 2016 |
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Keywords
- Actuator
- attitude control
- cogging torque
- spherical motor
- torque
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Torque control method of an electromagnetic spherical motor using torque map. / Kasashima, Nagayoshi; Ashida, Kiwamu; Yano, Tomoaki; Gofuku, Akio; Shibata, Mitsunobu.
In: IEEE/ASME Transactions on Mechatronics, Vol. 21, No. 4, 7442175, 01.08.2016, p. 2050-2060.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Torque control method of an electromagnetic spherical motor using torque map
AU - Kasashima, Nagayoshi
AU - Ashida, Kiwamu
AU - Yano, Tomoaki
AU - Gofuku, Akio
AU - Shibata, Mitsunobu
PY - 2016/8/1
Y1 - 2016/8/1
N2 - This paper describes a new method for driving electromagnetic type spherical motors that has arranged permanent magnets on a rotor and arranged electromagnets on a stator. The most significant feature of this method is, in principle, applicable to any permanent magnets arrangement and electromagnets arrangement, and it can generate torque to any direction from any rotor attitude. In the spherical motor, cogging torque between permanent magnets and electromagnets causes not only instability of rotation but also causes rotor attitude error because the rotor has three degrees of freedom. The method of canceling the cogging torque is introduced. In the case of arranging four or more electromagnets, the combination of the electric current supply becomes infinite in number and generally not determined uniquely. However, we have developed a method for deciding the electric current distribution that generates maximum torque under the limited supply of each electromagnet. In the experiment of open-loop control, it was confirmed that the rotor was able to rotate about the axes that had been set by the calculation.
AB - This paper describes a new method for driving electromagnetic type spherical motors that has arranged permanent magnets on a rotor and arranged electromagnets on a stator. The most significant feature of this method is, in principle, applicable to any permanent magnets arrangement and electromagnets arrangement, and it can generate torque to any direction from any rotor attitude. In the spherical motor, cogging torque between permanent magnets and electromagnets causes not only instability of rotation but also causes rotor attitude error because the rotor has three degrees of freedom. The method of canceling the cogging torque is introduced. In the case of arranging four or more electromagnets, the combination of the electric current supply becomes infinite in number and generally not determined uniquely. However, we have developed a method for deciding the electric current distribution that generates maximum torque under the limited supply of each electromagnet. In the experiment of open-loop control, it was confirmed that the rotor was able to rotate about the axes that had been set by the calculation.
KW - Actuator
KW - attitude control
KW - cogging torque
KW - spherical motor
KW - torque
UR - http://www.scopus.com/inward/record.url?scp=84978648997&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84978648997&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2016.2541679
DO - 10.1109/TMECH.2016.2541679
M3 - Article
AN - SCOPUS:84978648997
VL - 21
SP - 2050
EP - 2060
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
SN - 1083-4435
IS - 4
M1 - 7442175
ER -