三自由度永磁球形电机的建模和电压控制

Model and control of a PM spherical actuator based on voltage model

为了提高三自由度永磁球形电机的运动性能、控制效率和减少控制成本,对具有三维位置检测功能的三自由度永磁球形电机的控制方法进行了研究。首先建立了三自由度永磁球形电机的磁场模型、动力学模型、力矩模型和反电动势模型,并分析其运动控制机理。在此基础上求解永磁球形电机的电压平衡方程和动力学方程,得到永磁球形电机的控制模型,并结合PID控制方法,提出了永磁球形电机的基于电压模型的PID闭环控制方法。仿真结果表明,提出的电压控制方法与传统的电流力矩控制法相比可以明显提高球形电机的运动性能。

In order to improve movement performance and control efficiency, and to save the cost of the control system of the three-DOF permanent magnet spherical motor, this paper studies a three-DOF permanent magnet spherical motor with three-dimensional position detection and its control method. The magnetic field model, the dynamic model, the torque model and the back-EMF model of permanent magnet spherical motor were established. The motion control mechanism was analyzed. Based on these models, the voltage balance equation and kinetic equation of the spherical motor were put forward and the control model was established. Applying the PID control method, the closed-loop control method of the spherical motor was obtained. Simulation results show that, compared with the current torque method, the control method proposed in this paper can greatly improve the movement performance.