摘要
提出了一种三自由度永磁球形步进电机的控制方法。介绍了该永磁球形步进电机定子、转子的结构,电机转子表面的着色原理以及电机定子上的光电传感器的放置;针对其结构特点和动力学特性构造一个加权无向图,根据编码原理以及所给定的物体的运动轨迹,采用图中路径搜索算法,最终通过光电传感器反馈的信号确定永磁球形步进电机的通电线圈对,实现闭环控制球形步进电机,达到使物体沿着期望运动轨迹运动的目的。
The paper presents the control method of a type of permanent magnet spherical stepper motor capable of 3DOF motion and the structural characteristics of the PM spherical stepper motor are analyzed. The surface painting of rotor and the place of optoelectronic sensors, and then a weighted graph is given according to the structural characteristics and kinetics characteristics of the stepper. The current windings can be attained by the algorithm of the weighted graph and the signal feedback from optoelectronic sensors, and then the commuting strategy can be obtained and therefore the spherical stepper motor can be controlled to achieve the expected trajectory.
出处
《中国电机工程学报》
EI
CSCD
北大核心
2005年第13期113-117,共5页
Proceedings of the CSEE
基金
国家自然科学基金项目(50377010)
安徽省自然科学基金项目(03044103)。~~
关键词
电机
三自由度
永磁球形步进电机
光电传感器
加权无向图
运动轨迹
算法
Electric machinery
3DOF motion
Permanent magnet spherical stepper motor
Optoelectronic sensors
Weighted graph
Trajectory
Algorithm
