Motion control method for permanent magnet spherical motor quaternion feedback linearization

Abstract

The invention relates to a motion control method for permanent magnet spherical motor quaternion feedback linearization. A stator coil of an applicable motor is located at the vertexes, the ridge midpoints and the centroids of an inscribed regular octahedron of a stator spherical shell; and N and S poles of permanent magnet poles are alternately distributed at the vertexes of an inscribed regular hexahedron of a rotor spherical shell. The motion control method includes the steps of establishing a rotor electromagnetic torque model according to a PMSM stator and rotor structure and a Lorentz rule; establishing a stator counter electromotive force model according to the PMSM stator and rotor structure and a Lenz's law; establishing a rotor kinematic model according to quaternion characteristics; establishing a rotor kinetic model according to a rigid body Newton-Euler rotation formula; establishing a PMSM global motion model according to the kinematic model and kinetic model; performing coordinate transformation on the global motion model to obtain a decoupled global motion model; and performing feedback control on the decoupled global motion model to obtain a closed-loop control system.

Description

technical field [0001] The invention belongs to the technical field of permanent magnet spherical motor control, and in particular relates to a control algorithm combining quaternion and nonlinear system decoupling with motor motion characteristics. Background technique [0002] Traditional multi-degree-of-freedom actuators are composed of multiple single-degree-of-freedom direct-drive motors and complex mechanical transmission devices, which are bulky, have poor control accuracy, and are easily affected by external disturbances. Compared with traditional multi-degree-of-freedom actuators, permanent magnet spherical motors (PMSM) have the advantages of small size, high precision, and fast response, and have broad application prospects in aerospace, industrial automation, and intelligent robots. Due to the special structure and short development time of PMSM, there is no unified control theory at present, so it is very important to establish a scientific and reasonable dynami...

AI Technical Summary

Problems solved by technology

Existing control methods usually use the Euler angle as the attitude description of the spherical motor, but when the PMSM rotates at a large angle, this method will periodically appear singular during the control process, which increases the difficulty of control and deteriorates the control effect

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