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Torque control strategy for three degree-of-freedom permanent magnet spherical motor

A spherical motor, torque control technology, applied in motor generator control, AC motor control, electronic commutation motor control and other directions, can solve the problem of inability to reduce operation time, avoid stator current, simplify structure, reduce Effects of Torque Ripple Problems

Inactive Publication Date: 2014-09-03
TIANJIN UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

Although this method reduces the dimension of the control matrix, but the number of control matrices is increased to two, it cannot reduce the total operation time

Method used

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  • Torque control strategy for three degree-of-freedom permanent magnet spherical motor
  • Torque control strategy for three degree-of-freedom permanent magnet spherical motor
  • Torque control strategy for three degree-of-freedom permanent magnet spherical motor

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Embodiment Construction

[0042] The present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments.

[0043] The invention is a new torque distribution control strategy proposed for a new type of permanent magnet spherical motor, which can improve the calculation time of the stator control current when realizing the decoupling control of the motor's self-rotating motion and tilting motion and reducing torque ripple.

[0044] The basic structure of the motor is shown in Figure 1. The three-degree-of-freedom permanent magnet spherical motor applicable to the present invention includes four parts: a support part, a stator and a spherical rotor sensor, wherein the support part includes a stator wall 1, a base 6, and the stator includes a hollow coil 2, coil bolts (3), and a spherical rotor 4 The output shaft 5 is fixed on the top, the rotor 4 is located in the stator wall 1, and the rotor output shaft 5 protrudes from the opening above the stator ...

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Abstract

The invention relates to a torque control strategy for a three degree-of-freedom permanent magnet spherical motor. The control strategy is characterized by, to begin with, decomposing a control torque into autoroatation torques and incline torques; and on this basis, allocating the autoroatation torques to different stator phase windings; with the difference of autoroatation torques of the different stator phase windings when the spherical motor rotor inclines being taken into consideration, obtaining a two-dimension torque distribution function; and finally, obtaining control current of antorotation motion directly according to the torque characteristics of the permanent magnet spherical motor. For the incline torques, according to the relative position of the incline torques and each winding torque vector, and through comparing ratio power consumption of different combination modes, incline control windings can be determined; a dimension-reduced incline torque control matrix is obtained; and the control current of incline motion can be obtained through calculating an inverse matrix of the dimension-reduced incline torque control matrix. The control strategy can improve response speed and control precision of a permanent magnet spherical motor control system, reduce torque pulsation in antorotation motion, and prevent increasing stator control current excessively.

Description

Technical field [0001] The invention belongs to the technical field of motor control, and relates to a control method of a multi-degree-of-freedom permanent magnet spherical motor. Background technique [0002] With the continuous development of complex and high-precision control systems, people have higher and higher requirements for the accuracy and stability of the driving device. As a new type of motor, the permanent magnet spherical motor has the advantages of simple structure, small size, light weight, and high torque density. It can realize the movement of the rotor with three degrees of freedom, improve the integration of the system, simplify the transmission device, and have Wide application prospects. [0003] However, due to the special structure and motion mode, the control strategy of the permanent magnet spherical motor is also more complicated. In the existing control scheme, whether it is an open-loop control scheme or a closed-loop control scheme, it is ne...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/05H02P27/12
Inventor 李斌夏长亮李桂丹董良俊
Owner TIANJIN UNIV
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