상세정보
학술지
Design and Control of a Permanent Magnet Spherical Wheel Motor
- 발행일
- 201912
- 출처
- ETRI Journal, v.41 no.6, pp.838-849
- ISSN
- 1225-6463
- 출판사
- 한국전자통신연구원 (ETRI)
- 협약과제
- 18HB1500, 차세대 이동체용 형상/기능 제어 가능한 ICT 융합 소재/부품 미래원천기술, 이규성
- 초록
- 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 제안 키워드
- Air-core, Circumferential air, Control scheme, Hemispherical shell, Magnetic Dipole, Numerical simulations, Physical model, Rotational symmetry, Torque analysis, Wheel Motor, attitude error
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