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Journal Article
Design and Control of a Permanent Magnet Spherical Wheel Motor
- Authors
- Junbo Park, Minki Kim, Hyun Gyu Jang, Dong Yun Jung, Jong Moon Park
- Issue Date
- 2019-12
- Citation
- ETRI Journal, v.41, no.6, pp.838-849
- ISSN
- 1225-6463
- Publisher
- 한국전자통신연구원 (ETRI)
- Language
- English
- Type
- Journal Article
- Abstract
- We present a permanent magnet?밷ased spherical wheel motor that can be used in omnidirectional mobility applications. The proposed motor consists of a ball-shaped rotor with a magnetic dipole and a hemispherical shell with circumferential air-core coils attached to the outer surface acting as a stator. Based on the rotational symmetry of the rotor poles and stator coils, we are able to model the rotor poles and stator coils as dipoles. A simple physical model constructed based on a torque model enables fast numerical simulations of motor dynamics. Based on these numerical simulations, we test various control schemes that enable constant-speed rotation along arbitrary axes with small rotational attitude error. Torque analysis reveals that the back electromotive force induced in the coils can be used to construct a control scheme that achieves the desired results. Numerical simulations of trajectories confirm that even without explicit methods for correcting the rotational attitude error, it is possible to drive the motor with a low attitude error (<5째) using the proposed control scheme.
- KSP Keywords
- Air-core, Circumferential air, Control scheme, Hemispherical shell, Magnetic Dipole, Numerical simulations, Physical model, Rotational symmetry, Torque analysis, Wheel Motor, attitude error
This work is distributed under the term of Korea Open Government License (KOGL)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
(Type 4: : Type 1 + Commercial Use Prohibition+Change Prohibition)
