Open-Loop Controller Design and Dynamic Characteristics of a Spherical Wheel Motor

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 s...

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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) 2010-10, Vol.57 (10), p.3475-3482
Main Authors:	Son, Hungsun, Lee, Kok-Meng
Format:	Article
Language:	eng
Subjects:	Control systems Design engineering Dynamics Electric variables control Electromagnets Electromagnets (EMs) Inclination Law magnetic dipole magnetic field Magnetic variables control Mathematical models Motion control Motors multi-degree-of-freedom (DOF) actuator Open loop systems open-loop (OL) control Permanent magnets Robots Rotors Shafts Stators stepping motor Studies Wheels
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Summary:	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.
ISSN:	0278-0046 1557-9948