Torque control of a spherical machine with variable pole pitch

Torque control of a spherical machine combining three degrees of freedom in motion is presented. This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with perma...

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Bibliographic Details
Published in:IEEE transactions on power electronics 2004-11, Vol.19 (6), p.1628-1634
Main Authors: Kahlen, K., Voss, I., Priebe, C., De Doncker, R.W.
Format: Article
Language:English
Subjects:
Applied sciences
Coils
Computer science
control theory
systems
Control theory. Systems
Electric power
Electrical engineering. Electrical power engineering
Electrical machines
Electronics
Exact sciences and technology
Hardware
Linear machines
Machine tools
Magnetism
Mathematical analysis
Motion control
Motors
Permanent magnets
Phase current
phase currents
Poles
Power electronics
Power electronics, power supplies
Regulation and control
Robotics
Robots
rotor sphere
Rotors
stator coils
stator core
Stator cores
Stator windings
Stators
Three dimensional
Torque
Torque control
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Summary:Torque control of a spherical machine combining three degrees of freedom in motion is presented. This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with permanent magnets and an outer stator core casing with 96 stator poles and windings. The currents of the stator coils have to be controlled individually because the pole pitch can vary continuously during operation. A unique solution to calculate all 96 current commands to produce the desired torque does not exist. Different control algorithms are presented on how to choose the individual phase currents to reach the required torque vector. Simulations show satisfying results which are confirmed by experiments. In addition, the controllability of three-dimensional (3D) motion is demonstrated.
ISSN:0885-8993
1941-0107
DOI:10.1109/TPEL.2004.836623