A Study of the Iron-Core Solenoid Analysis for 3 D.O.F. Motor Control with Experimental Method

3자유도 모터 제어를 위한 철심 솔레노이드 특성의 실험적 해석에 관한 연구

Baek, Yoon-Su;Park, Joon-Hyuk

  • Published : 2001.09.01


In this paper, the experimental modeling of the force between permanent magnet and iron-core solenoid is suggested for more accurate control of 3 D.O.F. motor using the electromagnetic force. In the case of iron-core solenoid, the general equation of solenoid cant be used simply because of its nonlinearity. Therefore, the magnetic flux density is estimated through the concept of equivalent permanent magnet. The force distribution between permanent magnet and iron-core solenoid is more dependent on the magnetization of iron core caused by the permanent magnet than any other parameters. Therefore, the equation of the force estimation between these magnetic systems can be modeled by the experimental function of the magnetization of iron core. Especially, if the distance between iron-core solenoid and permanent magnet is far enough, the force equation through experiment can be expressed from only the current of coil and the distance between iron-core solenoid and permanent magnet. It means that Coulombs law can be used for magnetic systems and it is validated through the experiment. Therefore, force calibration is performed by the concept of Coulombs law.


3 D.O.F. Motor;Permanent Magnet;Iron-Core Solenoid;Equivalent Magnet;Coulombs Law;Force Distribution


  1. Craik, D., 1995, Magnetism, John Wiley & Sons
  2. Wangsness, R.K., 1997, Electromagnetic fields, John Wiley & Sons, 2nd edition
  3. Lee, K.M., Vachtsevanos, G. and Kwan, C.K., 1988, 'Development of a spherical Stepper Wrist Motor,' Journal of Intelligent and Robotic Systems 1(1988), pp. 225-142
  4. 양창일, 백윤수, 1999, '자기력 제어를 이용한 3자유도 액추에이터의 메커니즘 및 제어기 설계,' 대한기계학회논문집 A 권, 제 23 권 제 9 호, pp. 1476-1483
  5. Yang, C.I., Baek, Y.S., Sep. 1999, 'Design and Control of the 3 D.O.F. Actuator by Controlling the Electromagnetic Force,' IEEE Transactions on Magnetics, Vo. 35, No. 5, pp. 3607-3609
  6. Yang, C.I., 1999, Design and Control of 3 D.O.F. Actuator using the Magnetic Force of the Electromagnet, Ph.D. dissertation, Dep. Mech. Eng., Yonsei University
  7. 박준혁, 1999, 3자유도 모터 제어를 위한 영구자석과 철심 솔레이노이드간의 힘 특성에 관한 연구, 석사학위논문, 연세대학교
  8. Lee, K.M., Vachtsevanos, G. and Kwan, C.K., 1988, 'Development of a spherical Stepper Wrist Motor,' Proc. of the IEEE 1988 International conference of Robotics and automation, Philadelphia, PA
  9. Wang, J., Wang, W., Jewell, G.W., Howe, D., Jul. 1998, 'A Novel Spherical Permanent Magnet Actuator with Three Degrees-of-freedom,' IEEE Transactions on Magnetics, Vol. 34, No. 4, pp. 8/1-8/6
  10. Fouladgar, J., 1997, 'The Inverse Problem Methodology For the Measurement of the Permeability of the Ferromagnetic Materials,' IEEE Transactions on Magnetics, Vol. 33, No. 2, pp. 2139-2142
  11. Ohdachi, Y., Inaguma, Y., Iwama, N., Watarai, A., Fujii, H. and Honkura, Y., 1990, 'Effects of Magnetic Properties of Steel on Flux Response,' IEEE Transactions on Magnetics, Vol. 26, No. 2, pp. 517-519
  12. Said, R. Marandi, 1996, 'The Magnetic Near-Field of a Solenoid,' IEEE Electrical and Computer Engineering, Canadian Conference, Vol. 1, pp. 1-4
  13. Hiroshi Nakane, Yoshio Sohara and Shunich Omori, 1989, 'A Method for Simultaneously Measuring Resistivity and Permeability with A Multi-Layer Solenoid Coil,' Instrumentation and Measurement Technology Conference 6th IEEE, pp. 284-287
  14. Zhi Zhou and Kok-Meng Lee, 1996, 'Real-time Motion Control of a Multi-Degree-of-Freedom Variable Reluctance Spherical Motor,' IEEE International Conference on Robotics and Automation, pp. 2859-2864