Permanent Magnet Spherical Motors
Model and Field Based Approaches for Design, Sensing and Control
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Beschreibung
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.
Systematically formulates analytical models and summarizes computation methods for the design and analysis of spherical motors Includes field-based sensing and control methods which can not only be directly implemented for spherical motors, but also contribute to the design and integration of electromagnetic motion systems in various forms Explores the capabilities of spherical motors with regard to direct force/torque manipulation and haptic applications
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Themen in »Permanent Magnet Spherical Motors«
Spherical motors Joint motors Multi-DOF motion systems Force/torque manipulation PMSM Electromagnetic System PMSM rotor dynamic system Multi-pole models Magnetic force/torque model Real-time control