171 results about "Spherical motor" patented technology

The invention discloses a float roll system with both rectification and tension controlling functions. The float roll system comprises a machine frame, an input guiding idler roll, an output guiding idler roll, a float roll longitudinal position adjusting mechanism, a float roll, and a rectification and tension accurate adjusting mechanism, wherein the rectification and tension accurate adjusting mechanism comprises a rectification sensor, a tension sensor and a spherical motor. Thin film offset is detected as long as a thin film shifts on a feed surface, the runner of the spherical motor is driven to drive the float roll to swing on the thin film feed surface, and the float roll swings in an inverse direction due to the friction between the float roll and the thin film, so as to realize rectification; the runner of the spherical motor is driven to drive the float roll to rotate according to the comparative result between detected tension of the thin film and target tension, so that the axes of the runner and the float roll are eccentric, and the float roll tensions or relaxes the thin film to control the tension of the thin film. As both rectification and tension controlling are realized through the spherical motor, the float roll system has the advantages that the structure is simple, the layout is compact, and the control is convenient.

A spherical motor rotating in multi degrees of freedom has a reliable capability of determining positioning. The spherical motor includes a hollow spherical-shaped stator installed with a bi-level bobbin wound by coil generating a synthesized magneto-motive force on an inner surface thereof; and a rotor formed inside the stator and rotating around a shaft, wherein a slope of the shaft is adjusted by the synthesized magneto-motive force. Two or more of the bobbins are provided and installed at regular intervals along the inner surface of the stator, and the rotor includes one or more permanent magnets. The spherical motor rotating in multi degrees of freedom, formed with the above mentioned figures, can embody multi degrees of freedom by the interaction between the flowing current in the winding coil around the bobbin and the permanent magnet.

The invention belongs to the technical field of design and control of motors and relates to a permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor. The permanent magnet bearing-free auto-suspension three-degree-of-freedom spherical motor comprises a base, a spherical stator wall, stator coils and a rotor, wherein the rotor is positioned in the stator wall; the output shaft of the rotor extends out of an opening above the stator wall; the spherical motor is characterized in that: the stator coils have columnar ironless structures; three layers of stator coils are uniformly distributed along the equator of the spherical stator wall and wefts parallel to the equator and radially fixed on the spherical stator wall; permanent magnet poles are embedded on the surface of the rotor and divided into two layers, namely an upper layer and a lower layer, along the equator; the poles N and the poles S on each layer are staggered; and each stator coil is independently controlled by a driving circuit. The invention also provides a control method for the motor. By the motor and the control method thereof, controllability of a magnetic suspension force and bearing-free running of the motor are realized; furthermore, the movement characteristic of the motor and the flexibility of design of a motor control system are improved.

The invention provides an artificial hollow micro-nano motor and a preparation method thereof, relating to artificial motors and preparation methods thereof and solving the problem that the existing solid spherical motor, tubular motor and linear motor are poor in loading performance. The artificial hollow micro-nano motor is made from a polyelectrolyte double-layer skeleton and a catalyst or is made from a cationic polyelectrolyte skeleton and the catalyst; and the preparation method of the artificial hollow micro-nano motor comprises the following steps of: (1) preparing micro-nano catalyst particles; (2) synthesizing a core substrate; (3) synthesizing an artificial hollow micro-nano motor skeleton; and (4) removing the core substrate by using a template solvent so as to obtain the artificial hollow micro-nano motor. The preparation method has the advantages of simplicity and feasibility, stable process, good repeatability and convenience in mass production, and the prepared artificial hollow micro-nano motor is good in transportability and loading function, has a wide application prospect in a plurality of aspects, such as drug release control, blood purification, clinical diagnosis, and is simple in operation. The artificial hollow micro-nano motor prepared by the preparation method provided by the invention is applicable to the medical field.

The invention belongs to the technical field of motor manufacture, and relates to a three degree of freedom spherical motor with multiple physical field mixing driving. The spherical motor comprises a supporting part, a stator and a spherical rotor, wherein the supporting part comprises a base and a spherical stator casing fixed on the base. The top end of the stator casing is provided with a circular hole. One layer or more than one layer of winding installation holes is uniformly distributed on the upper sphere of the stator casing in the direction parallel to the equator. The stator comprises a stator winding and an ultrasonic vibrator, wherein the stator winding consists of a winging shaft and a coil. The diameter of the winding shaft is slightly smaller than the inner diameter of the winding installation hole, and the top of the winding shaft penetrates through a compression spring and is arranged in the winding installation hole. The ultrasonic vibrator is fixed on the base, and the upper end of the ultrasonic vibrator is in an inner cone shape, and is matched with the spherical rotor. The spherical rotor is uniformly embedded in a multilayer permanent magnet pole along the direction parallel to the equator. The invention has reliable structure, improves the torque characteristic of the motor, and enhances the design flexibility of the motor control system.

The present invention discloses a six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor. The six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor comprises a spherical shell-shaped stator (1) and a spherical rotor (2), the spherical shell-shaped stator (1) and the spherical rotor (2) are not contacted, and the spherical rotor (2) suspends in the middle of the spherical shell-shaped stator (1) by depending on an electromagnetic force. By controlling the electromagnetic force to adjust the relative positions of the centers of the spherical shell-shaped stator (1) and the spherical rotor (2), and currents are accessed in a horizontal coil and a vertical coil in the spherical rotor (2) according to the dq0 decomposition, so that the spherical rotor (2) suspends in the spherical shell-shaped stator (1) by being applied with a centripetal buoyancy, and realizes the multi-degree of freedom rotation by being applied with the torque effect along any axis relative to the spherical shell-shaped stator (1). The six degrees of freedom permanent magnet synchronous magnetic suspension spherical motor of the present invention is compact in structure, has zero friction, can be used as a multi-degree of freedom joint of a robot, and provides the high-speed and high-precision control.

The invention provide a film conveying deviation-rectifying device combining the tension control, which comprises a film input guiding roller, an output guiding roller, a deflection detecting mechanism, a tension detecting mechanism, a controller and a deviation-rectifying actuating mechanism, wherein the film input guiding roller and the output guiding roller are used for inputting a film guide into the deviation-rectifying actuating mechanism and outputting the film guide from the deviation-rectifying actuating mechanism; the deflection detecting mechanism is used for detecting whether the film deflects or not; the tension detecting mechanism is used for detecting the film tension; the controller is used for generating deviation-rectification or/and tension control instruction as per the detection information; the deviation-rectifying actuating mechanism comprises a spherical motor, a deflection frame and a deviation-rectification roller; a runner of the spherical motor drives the deflection frame to rotate on a feeding surface of the film; the friction between the rectification roller and the film drives the inverse rotation of the film to realize the deviation-rectification; meanwhile, the runner of the spherical motor drives the deflection frame to rotate on the surface vertical to the feeding surface of the film, so as to tighten or loose the film to realize the tension control. According to the invention, the deviation-rectification and the tension control of the film can be realized simultaneously, the influence of the tension variation on the deviation-rectification is greatly reduced, the structure is simple, and the deviation-rectifying precision is high.

The invention belongs to the field of electric fluid dynamics spray printing, and discloses a complex surface circuit conformal spray printing method and equipment. The equipment comprises a spherical motor module, a translation module and a conformal spray printing module. The translation module drives the spherical motor module to move in an X-axis direction and a Y-axis direction in a plane; the conformal spray printing module comprises a spray head part and an electric signal part; the spray head part moves up and down so as to realize a freedom degree of a Z-axis direction; the electric signal part applies voltage on an ink fluid and an electrode ring in an ink cartridge; the spherical motor module rotates around the X-axis direction, the Y-axis direction and the Z-axis direction so as to realize six-degree-of-freedom motion of an object to be spray-printed; a curve surface base plate is grounded, so that the electric potential of the object to be sprayed-printed is zero; and the voltage applied in the ink fluid is higher than the voltage applied in the electrode ring, so that a gradient electric potential difference is formed on the ink fluid, the electrode ring and the object to be spray-printed. Through the complex surface circuit conformal spray printing method and the equipment provided by the invention, a conformal patterning electric spray-printing process of a complex surface is realized, an application range of the electric spray-printing process is improved, the manufacturing cost is reduced, and the printing accuracy is improved.

The invention belongs to the dynamic control technique field of the permanent magnet spheric electromotor, and relates to a decoupling method for the electromotor dynamics. The method comprises a servo controller and a neural network feedforward controller; wherein, the neural network feedforward controller can be established according to the following steps: a dynamical equation of the spheric electromotor is established; two layers of neural network identifiers are established, input signals of the neural network identifiers are position angle vectors Theta (Alpha, Beta, Gamma ) which are output by the spheric electromotor, and output signals thereof are feedforward compensation torque vectors (Tau[nAlpha], Tau[nBeta], Tau[nGamma]); a weight adjusting equation which is provided with additional momentum can be used to train the neural network identifiers; the neural network identifiers are identified online, so as to achieve the feedforward compensation of the torque vectors (Tau[nAlpha], Tau[nBeta], Tau[nGamma]). The method can effectively weaken module estimation errors and interference effects outside the system.

The invention discloses an electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor, which comprises a first stator, a rotor, an output link, a second stator, a rotor protection film, a base, a piezoelectric ceramic driver A, a piezoelectric ceramic driver B, a piezoelectric ceramic driver C, 24 coils arranged on the first stator 1 and 8 magnetic poles arranged onthe rotor. A land of the output link is arranged on the rotor. The rotor protection film is coated on the outer surface of the rotor. The second stator is arranged outside the rotor protection film. The first rotor is arranged outside the second stator. The second stator is arranged on the base by support columns. The bottom of the first stator is positioned on L-shaped connecting pieces of the base. The spherical motor provided by the invention adopts a structure with the single rotor and the dual stators; and simultaneously, an electromagnetic driving mode and a piezoelectric ceramic driving mode are fused, compensate for the shortcomings of each other and coact to effectively increase the output torque of the spherical motor.

A spherical motor (10) that includes an outer field sphere (12) and an inner armature sphere (14) rotatable therein. Field magnetic elements (26) are disposed on the field sphere (12) and sensor/actuator magnetic elements (42) are disposed on the armature sphere (14). The field magnetic elements (26) include two coils (28, 30) providing regularly varying magnetic fields in two axes. The sensor/actuator magnetic elements (42) include coils (44-54) providing magnetic fields in three axes. Each sensor magnetic element (42) senses its localized magnetic field variations and generates a torque relative thereto. Over one complete field variation of the field magnetic elements (26), each sensor magnetic element (42) can produce torque about all three axes.

The invention relates to a spherical motor rotor position detection method based on an MEMS (Micro Electron Mechanical Systems) sensor. The method comprises steps: the original data of the MEMS sensorare acquired; zero bias error compensation is carried out on an angular velocity, and ellipsoid fitting compensation is carried out on an acceleration and a magnetic induction intensity; the angularvelocity, the acceleration and the magnetic induction intensity data after compensation are subjected to complementary filter-based data fusion and are substituted to a quaternion differential equation to obtain an attitude updating quaternion; the attitude updating quaternion is converted to an Euler angle, the change characteristics of the Euler angle in different intervals are combined, accurate interval transfer judgment is made, and conversion of the Euler angle in a full angle range change condition can be realized.

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.

The invention relates to a permanent magnetic spherical motor temperature rise forecasting method based on a three-dimensional equivalent heat network model. The method includes the steps: (1) building the three-dimensional equivalent heat network model meeting a real space structure of a motor according to a special spherical structure of the permanent magnetic spherical motor; (2) determining heat sources, and taking magnetic pole consumption, stator coil copper consumption, stator aluminum consumption and rotor aluminum consumption as corresponding nodes of the heat sources distributed in the three-dimensional equivalent heat network model; (3) calculating equivalent heat resistance, and diving the equivalent heat resistance into conduction heat resistance, convection heat resistance and radiation heat resistance according to different types of heat spread modes among the nodes in the model; (4) acquiring data; (5) forecasting temperature rise of the nodes in the model, and acquiring the temperature of the nodes of the permanent magnetic spherical motor by solving the three-dimensional equivalent heat network model. The permanent magnetic spherical motor temperature rise forecasting method is short in consumed time, easy to operate and high in accuracy and has high applicability to a system with a complex structure or incapable of performing analysis by the aid of a two-dimensional heat network model.

The invention discloses a permanent-magnet spherical motor rotor self-adapting control system based on dynamic friction compensation. The system is characterized in that a permanent-magnet spherical motor rotor servers as a controlled object, and the control system is set to comprise a parameter self-adaptation adjustment module, a dynamic friction state observation module, a dynamic friction feedforward compensation module and a calculation moment module. The parameter self-adaptation adjustment module obtains adjustment parameters of the calculation moment module and the dynamic friction feedborward compensation module by real-time calculation achieved in a self-adaptation algorithm. The dynamic friction state observation module is composed of two state observers with two different dynamic items and is used for calculating state quantity estimation value in a dynamic friction model in real time. The dynamic friction feedforward compensation module calculates in real time to obtain a friction compensation moment tfc. The calculation moment module calculates to obtain a main control moment tc. The total control moment t of the controlled object is set to be t=tfc+tc. According to the control system, dynamic friction compensation of the permanent-magnet spherical motor rotor is achieved, and accordingly control precision is improved, and starting moment is reduced.

The invention relates to an improved particle swarm algorithm based inverse kinematics calculation method for a permanent magnetic spherical motor. The method is carried out by the following steps of: step 1: determining a coordinate position of an output shaft of a rotated rotor according to initial position coordinates of the output shaft of the rotor and an obtained Euler angle, and taking a distance between the given coordinate position of the output shaft of the rotated rotor and an actually obtained coordinate position as a fitness function; and step 2: calculating the Euler angle corresponding to inverse kinematics of the permanent magnetic spherical motor by applying an improved particle swarm algorithm based on a simulated annealing algorithm. The method can effectively calculate a local optimal solution and has relatively high calculation precision.

The invention discloses a multi-degree-of-freedom magnetic levitation spherical motor. The magnetic levitation spherical motor comprises a stator structure and a mover structure, wherein a plurality of permanent magnets are uniformly distributed on the spherical surface of the mover structure; the stator structure comprises magnetic levitation coils and thrust coils; a plurality of magnetic levitation coils are arranged on a levitation coil framework in a certain array form; the circumferential thrust coils are uniformly and radially distributed on the circumference of an incomplete spherical surface; and the top thrust coils are uniformly distributed in parallel and vertically on the top of the incomplete spherical surface. Through design of a novel form of structure, the mover can rotate in any direction in a plane. The structure is simple. The magnetic levitation spherical motor has a very good application prospect in multi-degree-of-freedom equipment.

The invention discloses a multi-degree-of-freedom spherical motor and a speed reducing mechanism thereof. The motor comprises a rotor, a permanent magnet, a holding rack, a ball, an output shell, a plurality of labels, a fixed magnet, a stator support and electromagnets, wherein the plurality of labels are uniformly embedded onto the surface of the rotor; the permanent magnet is connected to a step hole of the rotor; the holding rack is embedded onto the outer side of the rotor; the fixed magnet is placed in the fixed magnet seat of the holding rack; the output shell is embedded onto the outerside of the holding rack; the ball is placed in a ball through hole of the holding rack, and the outer surface is separately in contact with the outer surface of the rotor and the inner surface of the output shell; the electromagnet is fixed in the electromagnet seat of the stator support, the pole directions of adjacent two electromagnets are opposite, and the electromagnets are matched with thepermanent magnet; a plurality of positioning sensors are uniformly arranged on the inner surface of the stator support, and the positioning sensors are matched with the labels; and the fixed magnet is fixed in the magnet seat of the stator support, and is matched with the fixed magnet in the holding rack. The motor is simple and compact in structure, high in integrating degree and high in universality.

The invention discloses a spherical motor for an electric bicycle. The spherical motor comprises a stator and a rotor, wherein the stator is fixedly arranged on a fixing shaft, the rotor can rotate in the circumferential direction of the fixing shaft, a wire winding group is arranged on the stator, a plurality of permanent magnetic bodies are arranged on the rotor, the rotor is in a hollow spherical shape, the permanent magnetic bodies are fixedly arranged on a hollow inner case of the rotor, the fixing shaft passes through the spherical center of the rotor, the stator is in a solid spherical shape provided with the wire winding group at the inside, the fixing shaft passes through the spherical center of the stator, the radius of the stator is smaller than the radius of the rotor and is arranged in the hollow part of the rotor, and the direction of a magnetic field generated after current is introduced into the wire winding group is vertical to the spherical surface of the rotor in the corresponding position. The spherical motor provided by the invention has the advantages that the rotor and the stator are both designed into the spherical shape, the sum of the sizes of the permanent magnetic bodies accommodated inside the spherical rotor is great, meanwhile, the heat radiation area is large, the distance between the spherical stator and the rotor is small, the energy conversion rate is higher, and meanwhile, the heat radiation performance is better.

The invention relates to a satellite attitude control method based on three-freedom-degree momentum exchange of a spherical motor. According to the satellite attitude control method, a spherical momentum exchange device is the spherical motor, and the spherical motor is connected with a satellite platform through a stator shell. The satellite attitude control method comprises the following steps that 1, a control Euler axis rotating angle is determined; 2, a hierarchical control Euler axis rotating angle is determined; 3, the incremental control torque of each level is determined; 4, a spherical rotor track control command is determined; 5, trajectory tracking control over a spherical rotor is conducted; 6, the increment grades n are adjusted. By the adoption of the satellite attitude control method, the weight of an aircraft can be reduced, satellite-borne space is reduced, and control is easy.

The invention discloses a permanent magnet spherical motor point-to-point motion track planning method based on a sine acceleration function and application thereof. The method is characterized in that a permanent magnet spherical motor rotor is regarded as a research object, firstly a Euler rotation angle or coordinates of two points are given, and the Euler rotation angle is inversely solved by adopting a method of reversely solving the Euler rotation angle according to the coordinates of the two points; then, an expression of the sine acceleration function is solved according to the operating time and initial conditions, and finally a final control torque is obtained according to a rotor dynamics equation. By the adoption of the method, permanent magnet spherical motor point-to-point motion track planning is achieved, the method is applied to complicated and continuous track planning, the adverse influence of input signal impact, non-continuous change and other factors on a control object can be effectively reduced, and accordingly the control accuracy of a control system and the stability of motor operation are improved.