Novel permanent magnet spherical motor driven by coaxial magnetic moment of rotating magnetic field

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-02-13 DOI:10.1016/j.mechatronics.2025.103298

Yongshun Zhang, Gaoren Liu, Li Wang, Qing Shan, Zhenhu Liu

{"title":"Novel permanent magnet spherical motor driven by coaxial magnetic moment of rotating magnetic field","authors":"Yongshun Zhang, Gaoren Liu, Li Wang, Qing Shan, Zhenhu Liu","doi":"10.1016/j.mechatronics.2025.103298","DOIUrl":null,"url":null,"abstract":"<div><div>Based on rotating magnetic coaxial effect of a suspended magnet rotor within the spatial universal rotating magnetic field(SURMF), a novel two-degree-of-freedom permanent magnet spherical motor (PMSM) and its lateral drive method using the rotating coaxial magnetic moment(RCMM) of the magnet rotor are proposed to address the complex electromagnetic driving structure, redundancy of control variables, complex coupled magnetic fields, and singularity of magnetic moments in current spherical motors. In terms of motor structure, the orthogonal kinematic decoupling and posture measuring of the PMSM output axis along yaw and pitch directions are realized by the universal follower mechanism (UFM) with a suspended magnet rotor. In terms of driving mechanism, with triaxial orthogonal combination coils (TOCC) as the stator, the orthogonal orientation decoupling control of the SURMF axis is adopted to realize the orthogonal decoupling of the RCMM in yaw and pitch directions, so as to realize the two-degree-of-freedom active drive of the PMSM by double decoupling of the magnetic moment and kinematics. For reducing magnetic moment orientation and motion path deviations caused by a slip angle, a compensation control method of the SURMF axis is proposed, which realizes the precise control of magnetic moment decoupling, ensures the precision and stability control of the motion path of the PMSM and lays a foundation for the application of the rotating coaxial driving theory of the PMSM.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103298"},"PeriodicalIF":3.1000,"publicationDate":"2025-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415825000078","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

Based on rotating magnetic coaxial effect of a suspended magnet rotor within the spatial universal rotating magnetic field(SURMF), a novel two-degree-of-freedom permanent magnet spherical motor (PMSM) and its lateral drive method using the rotating coaxial magnetic moment(RCMM) of the magnet rotor are proposed to address the complex electromagnetic driving structure, redundancy of control variables, complex coupled magnetic fields, and singularity of magnetic moments in current spherical motors. In terms of motor structure, the orthogonal kinematic decoupling and posture measuring of the PMSM output axis along yaw and pitch directions are realized by the universal follower mechanism (UFM) with a suspended magnet rotor. In terms of driving mechanism, with triaxial orthogonal combination coils (TOCC) as the stator, the orthogonal orientation decoupling control of the SURMF axis is adopted to realize the orthogonal decoupling of the RCMM in yaw and pitch directions, so as to realize the two-degree-of-freedom active drive of the PMSM by double decoupling of the magnetic moment and kinematics. For reducing magnetic moment orientation and motion path deviations caused by a slip angle, a compensation control method of the SURMF axis is proposed, which realizes the precise control of magnetic moment decoupling, ensures the precision and stability control of the motion path of the PMSM and lays a foundation for the application of the rotating coaxial driving theory of the PMSM.

查看原文本刊更多论文

新型旋转磁场同轴磁矩驱动永磁球形电机

针对磁悬浮转子在空间万向旋转磁场（SURMF）内的旋转磁同轴效应，提出了一种新型的二自由度永磁球形电机（PMSM）及其利用永磁转子的旋转同轴磁矩（RCMM）进行横向驱动的方法，解决了永磁转子电磁驱动结构复杂、控制变量冗余、耦合磁场复杂等问题。以及当前球形电机磁矩的奇异性。在电机结构方面，采用磁悬浮转子万向从动机构实现永磁同步电机输出轴沿横摆和俯仰方向的正交运动学解耦和姿态测量。在驱动机构方面，以三轴正交组合线圈（TOCC）为定子，采用超磁磁场轴的正交定向解耦控制，实现rpmmm在横摆和俯仰方向的正交解耦，通过磁矩和运动学的双重解耦，实现永磁同步电机的两自由度主动驱动。为减小因滑移角引起的磁矩方向和运动路径偏差，提出了一种永磁同步电机轴补偿控制方法，实现了磁矩解耦的精确控制，保证了永磁同步电机运动路径控制的精度和稳定性，为永磁同步电机旋转同轴驱动理论的应用奠定了基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.