Spherical planning-based permanent magnetic spherical motor stator winding electrifying method
A technology for stator windings and motors, which is applied to electronic commutation motor control, electronic commutators, electrical components, etc., can solve the problems of complex energization strategy, complex winding distribution and motion control, etc., and achieves convenient continuous control and simple division method. , the effect of improving utilization
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[0047] The following first introduces the implementation steps of a permanent magnet spherical motor stator winding energization strategy:
[0048] The first step: According to the dynamic model of the permanent magnet spherical motor, design the dynamic control scheme of the permanent magnet spherical motor. From this, the desired torque expression in the dynamics control system can be obtained. According to this expression, the expected torque value at each moment in the control process can be obtained. The expected torque values of the three degrees of freedom at a certain moment can form an expected torque vector T with a dimension of 3×1.
[0049] The second step: use the finite element method to obtain the static torque model of the permanent magnet spherical motor, including three degrees of freedom of rotation, pitch and yaw. In this finite element model, the rotor poles adopt 6 permanent magnets, which are arranged alternately along the equator of the rotor spheri...
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