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简介
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents modelsfor establishing the relationships among the magnetic fields position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.
目录
CHAPTER 1 INTRODUCTION/1
1.1Background/1
1.2The State of the Art/3
1.21 Marnetic Modeling and Analysis/6
1.22 Orientation Sensing/8
1.23 Control Methods/10
1.3 Book Outline/12
PART I MODELLING METHODS FOR PMSMS/21
CHAPTER 2 General Formulation OF PMSMs/21
2.1 PMSM Electromagnetic System Modeling/21
2.1.1 Governing Equations ofElectromagnetic Field/21
2.1.2 Boundary Condition/24
2.1.3 Magnetic Flux Linkage and Energy/25
2.1.4 Magnetic Force/Torque/26
2.2 PMSM Rotor Dynamic /27
References/30
CHAPTER 3 Distributed Multi-Pole Models/31
3.1 Distributed Multi-Pole Model for PMs/31
3.1.1 PM Field with DMP Model/32
3.1.2 Numerical Illustrative Examples/35
3.2 Distributed Multi-Pole Model for EMs/43
3.2.1 Equivalent Magnetization of theePM/45
3.2.2 Illustrations of Magnetic FieldComputation/47
3.3 Dipole Force/Torque Model/47
3.3.1 Force and Torque on a MagneticDipole/47
3.3.2 Illustration of Magnetic ForceComputation/49
3.4 Image Method with DMP Models/52
3.4.1 Image Method with Spherical GroundedBoundary/53
3.4.2 Illustrative Examples/56
3.4.3 Effects of Iron Boundary on theTorque/58
3.5 Illustrative Numerical Simulations forPMSM Design/62
3.5.1 Pole Pair Design/65
3.5.2 Static Loading Investigation/70
3.5.3 Weight-Compensating Regulator/71
References/79
CHAPTER 4 PMSM Force/Torque Model forReal-Time Control/81
4.1 Force/Torque Formulation/81
4.1.1 Magnetic Force/Torque Based on TheKernel Functions/82
4.1.2 Simplified Model: Axis-SymmetricEMs/PMs/85
4.1.3 Inverse Torque Model/86
4.2 Numerical Illustrations/86
4.2.1 Axis-Asymmetric EM/PMs/86
4.2.2 Axis-Symmetric EM/PM/90
4.3 Illustrative PMSM Torque Modelling /93
PART II SENSING Methods
CHAPTER 5 Field-Based OrientationSensing/99
5.1 Coordinate Systems and SensorPlacement/99
5.2 Field Mapping and Segmentation/100
5.3 Artificial Neural Network InverseMap/102
5.4 Experimental Investigation/103
5.4.1 2-DOF Concurrent Characterization/104
References/107
CHAPTER 6 A Back-EMF Method for Multi-DOFMotion Detection/109
6.1 Back-EMF for Multi-DOF MotionSensing/109
6.1.1 EMF Model in a Single EM-PM pair/111
6.1.2 Back-EMF with Multiple EM-PMpairs/112
6.2 Implementation of Back-EMF Method on aPMSM/114
6.2.1 Mechanical and Magnetic Structure ofthe PMSM/115
6.2.2 Numerical Solutions for the MFLModel/116
6.2.3 Experiment and Discussion/118
6.2.4 Parameter Estimation of the PMSM withback-EMF Method/120
References/122
PART III CONTROL METHODS
CHAPTER 7 Direct Field-FeedbackCcontrol/125
7.1 Traditional Orientation Control Methodfor Spherical Motors/125
7.1.1 PD Control Law and StabilityAnalysis/126
7.1.2 Comments on Implementation ofTraditional Control Methods/127
7.2 Direct Field-Feedback Control/128
7.2.1 Determination of Bijective Domain/129
7.2.2 DFC Control Law and Control ParameterDetermination/129
7.2.3 DFC with Multi-sensors/130
7.3 Numerical 1-DOF IllustrativeExample/131
7.3.1 Sensor Design and Bijective DomainIdentification/131
7.3.2 Field-based Control Law/133
7.3.3 Numerical Illustrations of MultipleBijective Domains/135
7.4 Experimental Investigation of DFC for3-DOF PMSM/135
7.4.1 System Description/135
7.4.2 Sensor Design and BijectiveDomains/138
7.4.3 Bijective domain/139
7.4.4 TCV Computation Using ArtificialNeural Network (ANN)/142
7.4.5 Experimental Investigation/142
References/150
CHAPTER 8 A Two-mode PMSM for HapticApplications/151
8.1 Description of the PMSM HapticDevice/151
8.1.1 Two-mode configuration Design for6-DOF Manipulation/153
8.1.2 Numerical Model for MagneticField/Torque Computation/154
8.1.3 Field-based TCV Estimation/155
8.2 Snap-Fit Simulation/156
8.2.1 Snap-Fit Performance Analyses/158
8.2.2 Snap-Fit Haptic Application/159
References/164
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