Publisher : The Korean Institute of Electrical Engineers
DOI : 10.5370/JEET.2015.10.3.958
Title & Authors
Dynamic Analysis of Double Excited 3-DOF Motor Modeling Using Equivalent Magnetic Circuit Rhyu, Se-Hyun; Shin, Hye-Ung; Kim, Min-Soo; Kwon, Byung-Il;
This paper implements a model of a double excited three-degree-of-freedom motor (3-DOF) coupled with a PI current controller for position control. The rotational trends of the rotor according to the applied steps are identified using a motion equation. The simulation model is a complete electrical and mechanical model of a 3-DOF motor, which mainly consists of mechanical torque equations, a nonlinear equivalent magnetic circuit, and a PI current controller. This machine is tested using the manufactured control board using the same conditions as in the simulation, where the experimental results also verify the accuracy of the simulation results.
3-DOF motor;Dynamic analysis;Equivalent magnetic circuit;PI control;
Magnetic field analysis of novel spherical actuators with three-dimensional pole arrays, Review of Scientific Instruments, 2016, 87, 6, 065006
Y. Hyun-Jong Park, Ho-Joon Lee, Su-YeonCho, Han-Woong Ahn, Ki-DoekLee, Chan-Yeop Park, Sung-Hong Won, and Ju Lee “A Performance Study on a Permanent Magnet Spherical Motor”, IEEE Transactions on Magnetics, Vol. 49, no. 5, pp. 2307-2310, May 2013.
M. Tsukano, Y. Sakaidani, K. Hirata, N. Niguchi, S. Maeda, and A. Zaini, “Analysis of 2-Degree of Freedom Outer Rotor Spherical Actuator Employing 3-D Finite Element Method”, IEEE Transactions on Magnetics, Vol. 49, no. 5, pp. 2233-2236, May 2013.
L.Yan, I. Chen, C. K. Lim, G.Yang, and K. M. Lee, “Modeling and Iron-Effect Analysis on Magnetic Field and Torque Output of Electromagnetic Spherical Actuators With Iron Stator”, IEEE Transactions on Mechatronics, Vol.17, no.6, pp.1080-1087, Dec. 2012.
Hyun-Jong Park, Su-Yoen Cho, Han-Woong Ahn, Ho-Jun Lee, Sung-Honh Won and Ju-Lee. “A Study of Advanced Spherical Motor for Improvement of Multi-DOF Motion.” Journal of Electrical Engineering & Technology 7.6 (2012): 926-931.
Ho-Joon Lee, Hyun-Jong Park, Sung-Hong Won, Gwang-Hyun Ryu and Ju Lee. “Improvements of Performance of Multi-DOF Spherical Motor by Double Air-gap Feature.” Journal of Electrical Engineering & Technology 8.1 (2013): 90-96.
Jae-sung Lee, Dae-kyung Kim, Soo-whang Baek, Se-hyun Rhyu, Byung-il Kwon, “Newly Structured Double Excited Two-Degree-of-Freedom Motor for Security Camera”, IEEE Transactions on industry applications, Vol. 44, No. 11, pp. 4041-4044, Nov. 2008.
B. I. Kwon, Y. B. Kim, “Design and Analysis of Double Excited 3-Degree-of-Freedom Motor for Robots”, Journal of Electrical Engineering & Technology, Vol. 6, no. 5, pp. 618-625, 2011.
H. U. Shin, M. Modarres, and B. I. Kwon, “Characteristic Analysis of Double Excited 3-DOF Motor by using Nonlinear Equivalent Magnetic Circuit”, Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE, pp. 2662-2667, 2013.
J.T. Chen, Z.Q. Zhu, “Influence of the Rotr Pole Number on Optimal Parameters in Flux-Switching PM Brushless AC Machines by the Lumped-Parameter Magnetic Circuit Model”, IEEE Transactions on industry applications, Vol. 46, No. 4, pp. 1381-1388, Jul. 2010.
Yoshiaki Kano, Takashi Kosaka, Nobuyuki Matsui, “Simple Nonlinear Magnetic Analysis for Permanent-Magnet Motors”, IEEE Transactions on industry applications, Vol. 41, No. 5, pp. 1205-1214, Sep./ Oct. 2005.
S. Maeda, N. Niguchi, “Dynamic Analysis of an Independently Controllable Electromagnetic Spherical Actuator”, IEEE Transactions on Magnetics, Vol. 49, no. 5, May 2013.