Study on H8 Control of Active Magnetic Suspension Spherical Rotating Joint

The active spherical joint with magnetic suspension is a novel electromechanical driving equipment which has compact structure and high integration of mechanical and electrical, and has advantages in controlling and track planning. Based on electromagnetic air gap principle and dynamic theory, the state space control model of the active spherical rotate joint with magnetic suspension is established. Then an H-infinity driving controller of the active spherical rotating joint system is designed. Through the system control performance simulation, we can know that the active joint control system has good stability, fast response, good dynamic performance and strong anti-interference ability.