Abstract
The planets in toroidal motor rotate while revolving, which causes the cross-coupling phenomenon between d -axis and q -axis, and it affects the dynamic response performance of toroidal motor. To improve the output performance of toroidal motor, the internal model decoupling control is adopted with combination of two degree of freedom (2DOF) control. Based on complex vector theory, complex vector model of toroidal motor with two inputs and two outputs is established. Two degree of freedom internal model decoupling controller is designed. The response performances under the proposed control strategy are simulated and analyzed. The simulation results show that the controller reduces the influence of cross-coupling on the output performance of toroidal drive system greatly, and improves the anti-load disturbance and robust performance of toroidal motor drive system.
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