Abstract
In order to determine the currents required in different attitudes and torque target conditions, this paper proposes a calculation method for drive currents of permanent magnet spherical motors based on three-dimensional magnetic field, torque analytical model and optimization algorithm. Firstly, an electromagnetic torque analytical model base on equivalent surface currents of a permanent magnet and Lorentz force is proposed. The feasibility and accuracy are verified by comparing results with those by the finite element method. Then, an inverse calculation model of the motor drive current is built by combining the torque analytical model with the Particle Swarm Optimization (PSO) algorithm. At last, using the proposed drive current calculation model, the driving current characteristics of spherical motors under different energization strategies are compared and analyzed.
Highlights
Due to the compact structure with flexible motion mode and no characteristics of motion error accumulation [1], [2], the spherical motor is especially suitable for installation or motion in small space and has broad engineering applications in the field of robot arms and joints
A permanent magnet spherical motor is the main object of current spherical motor research for its high energy density
Zhou et al.: Drive Current Calculation and Analysis of Permanent Magnet Spherical Motor motor drive current is established by optimizing the stator coil currents according to the given output torques
Summary
Due to the compact structure with flexible motion mode and no characteristics of motion error accumulation [1], [2], the spherical motor is especially suitable for installation or motion in small space and has broad engineering applications in the field of robot arms and joints. Since the magnetic field and the motion mode are always spatially distributed in three-dimension, the spherical motor torque calculation is far more complicated than that of the conventional motor. A calculation model of the electromagnetic torque is derived by analyzing Lorentz force of the stator coil received after energized. R. Zhou et al.: Drive Current Calculation and Analysis of Permanent Magnet Spherical Motor motor drive current is established by optimizing the stator coil currents according to the given output torques. Zhou et al.: Drive Current Calculation and Analysis of Permanent Magnet Spherical Motor motor drive current is established by optimizing the stator coil currents according to the given output torques At last this drive current calculation model is used to analyze the characteristics of drive currents under different energization strategies
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