Multi-DoF Electromagnetic Machine Control for Compact UAV Actuation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current motion control systems for multi-degree-of-freedom (DoF) applications are large, cumbersome, and inefficient, making them unsuitable for small platforms like mini- or micro-UAVs and micro-satellites, and existing solutions like the Global Pointing Actuator cannot achieve three DoF motion.
Innovation Solution
A multi-degree-of-freedom electromagnetic machine with a stator and armature, featuring three stator conductors following different trajectories that form a surface, and a control system that supplies direct current to generate magnetic fields for controlled rotation about perpendicular axes, allowing for efficient three DoF motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If separate motors or actuators are used for each degree of freedom, then motion control in multiple DoF is achieved, but the system becomes large and cumbersome
Solution Approach 1:
The patent merges multiple actuation functions into a single electromagnetic machine by configuring three stator conductors along different trajectories (latitude, longitude, and spiral) that can independently control motion in three degrees of freedom. This eliminates the need for separate motors for each DoF, directly resolving the contradiction between multi-DoF capability and system size.
Solution Approach 2:
The electromagnetic machine is designed with universal functionality to perform multiple motion control tasks simultaneously. The three stator conductors can be independently controlled to achieve pitch, roll, and yaw motions, making a single device capable of what previously required multiple specialized actuators.
2Adaptability or versatility
If traditional multi-motor systems are used, then multi-DoF motion is achieved, but the system becomes inefficient
Solution Approach 1:
By combining multiple actuation functions into one electromagnetic machine with shared components (armature, magnetic circuit, control electronics), the system reduces redundancy and improves efficiency. The single integrated design eliminates the inefficiencies inherent in multiple separate motor systems while maintaining full multi-DoF capability.
3Length of moving object
If the Global Pointing Actuator with latitude and longitude coils is used, then two DoF motion is achieved, but three DoF motion cannot be accomplished
Solution Approach 1:
The stator is segmented into three distinct conductor paths (latitude, longitude, and spiral trajectories) that can be independently controlled. This segmentation allows each conductor to contribute to a specific degree of freedom while working together as an integrated system, enabling three DoF motion where previous designs only achieved two.
Solution Approach 2:
The patent adds a third dimensional component to the traditional two-coil spherical actuator by introducing a spiral trajectory conductor. This additional dimensional element (the spiral path wrapping around the sphere) provides the extra degree of freedom needed to achieve three-axis control, transforming a 2-DoF system into a 3-DoF system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables a compact, efficient, and simultaneous control of three degrees of freedom, reducing the size and complexity of motion systems, making them suitable for smaller platforms while maintaining high precision and accuracy.
Implementation Method 1
supply DC to one or more of the armature coils, to thereby generate one or more magnetic fields that interact with the stator conductors and vary an orientation of the one or more magnetic fields relative to the stator conductors, to thereby generate desired rotation of the armature, relative to the stator, about one or more perpendicular axes
Data Source
AI summary
A multi-degree-of-freedom electromagnetic machine includes a stator, an armature, and a control. The stator includes a first, second, and third stator conductors that follow first, second, and third trajectories that are all different, and that together form a general shape of a surface. The armature is disposed adjacent to, and is movable relative to, the stator, and includes a plurality of spaced-apart armature coils. Each armature coil is configured, upon being electrically energized, to generate a magnetic field. The control is coupled to the first, second, and third stator conductors, and to the armature coils and is configured to: (i) supply DC to the stator conductors, and (ii) supply DC to one or more of the armature coils, to thereby generate one or more magnetic fields that interact with the stator conductors and vary an orientation of the one or more magnetic fields relative to the stator conductors.