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Analysis, design and control of a novel spherical permanent-magnet actuator

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3 Author(s)
Wang, J. ; Dept. of Electron. & Electr. Eng., Sheffield Univ., UK ; Jewell, G.W. ; Howe, D.

The authors describe the analysis, design and control of a novel actuator with a spherical permanent-magnet rotor and a simple stator winding and position-sensing arrangement. It is capable of two degrees of freedom, and has a high specific torque. Expressions for the magnetic field distribution and the torque vector and back-EMF constants are derived analytically, and optimal design parameters, which result in maximum output torque or maximum acceleration for a given payload, are derived. The actuator, whose dynamics are those of robotic manipulators, is facilitated by the establishment of a complete actuation system model and the application of a robust control law. The validity of the analysis and design techniques, and the effectiveness of the control strategy, are confirmed by measurements

Published in:

Electric Power Applications, IEE Proceedings -  (Volume:145 ,  Issue: 1 )