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Open-loop controller design and dynamic characteristics of a spherical wheel motor / Hungsun, Son in IEEE transactions on industrial electronics, Vol. 57 N° 10 (Octobre 2010) 

Public ISBD [article]  in IEEE transactions on industrial electronics > Vol. 57 N° 10 (Octobre 2010) . - pp. 3475 - 3482 Titre : Open-loop controller design and dynamic characteristics of a spherical wheel motor Type de document : texte imprimé Auteurs : Hungsun, Son, Auteur ; Kok-Meng, Lee, Auteur Année de publication : 2011 Article en page(s) : pp. 3475 - 3482 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Electromagnetic  (EMs)  Magnetic  dipole  Magnetic  field  Multi-degree-of-freedom  (DOF)  actuator  Open-loop  (OL)  control  Stepping  motor Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a control system design for a particular form of variable-reluctance spherical motors, referred to here as a spherical wheel motor (SWM). The method decoupling the spin from the inclination offers a means to control, in open loop (OL), the inclination of a continuously rotating shaft. Specifically, the OL controller presented in this paper combines a multispeed switching control law for controlling the spin motion and a dynamic model-based control law for regulating the rotor inclination of an SWM. The concept feasibility of the OL-controlled SWM (consisting of permanent magnets in a rotor and electromagnets in a stator) has been experimentally demonstrated. The experimental study not only demonstrates the design procedure but also provides intuitive insights into the effects of key operation parameters on the SWM dynamics. The results presented here will serve as a basis for developing feedback controllers for increasing accuracy and robustness for disturbance rejection. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5406163 [article] Open-loop controller design and dynamic characteristics of a spherical wheel motor [texte imprimé] / Hungsun, Son, Auteur ; Kok-Meng, Lee, Auteur . - 2011 . - pp. 3475 - 3482. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 10 (Octobre 2010) . - pp. 3475 - 3482 Mots-clés : Electromagnetic  (EMs)  Magnetic  dipole  Magnetic  field  Multi-degree-of-freedom  (DOF)  actuator  Open-loop  (OL)  control  Stepping  motor Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a control system design for a particular form of variable-reluctance spherical motors, referred to here as a spherical wheel motor (SWM). The method decoupling the spin from the inclination offers a means to control, in open loop (OL), the inclination of a continuously rotating shaft. Specifically, the OL controller presented in this paper combines a multispeed switching control law for controlling the spin motion and a dynamic model-based control law for regulating the rotor inclination of an SWM. The concept feasibility of the OL-controlled SWM (consisting of permanent magnets in a rotor and electromagnets in a stator) has been experimentally demonstrated. The experimental study not only demonstrates the design procedure but also provides intuitive insights into the effects of key operation parameters on the SWM dynamics. The results presented here will serve as a basis for developing feedback controllers for increasing accuracy and robustness for disturbance rejection. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5406163