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A Motion Control Method of Quaternion Feedback Linearization for Permanent Magnet Spherical Motor

A feedback linearization, spherical motor technology, applied in the direction of model/simulation for control purposes, can solve problems such as deteriorating control effect, increasing control difficulty, and singularity, eliminating coupling between shafts, reducing motor control difficulty, and avoiding rotation. Effects of Strange Problems

Inactive Publication Date: 2020-04-17
TIANJIN UNIV
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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

Method used

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  • A Motion Control Method of Quaternion Feedback Linearization for Permanent Magnet Spherical Motor
  • A Motion Control Method of Quaternion Feedback Linearization for Permanent Magnet Spherical Motor
  • A Motion Control Method of Quaternion Feedback Linearization for Permanent Magnet Spherical Motor

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Embodiment Construction

[0040] The invention provides a motion control method for quaternion feedback linearization of a permanent magnet spherical motor. The invention will be described in detail below in conjunction with the accompanying drawings and simulation examples. The specific implementation steps of the present invention are as follows:

[0041] 1. The present invention selects as figure 1 The permanent magnet spherical motor is shown as an example, and the motor includes a stator part 1, a rotor part 2 and a support member. The stator part 1 is composed of a stator coil 101 and a stator spherical shell 102, wherein the material of the stator spherical shell 102 is polylactic acid (PLA), and the stator coil 101 is formed by winding copper enameled wire on a PLA cylinder, and the stator coil 101 is located on the stator spherical shell 102 There are 26 vertices, edge midpoints and face centers of the inscribed regular octahedron; the rotor part 2 is composed of a permanent magnet pole 201 a...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/34
CPCH02P6/34
Inventor 李斌李桂丹邹志强
Owner TIANJIN UNIV
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