Vision-based permanent magnet spherical motor orientation detection and adaptive PD control system

The rotor orientation detection of permanent magnet spherical motor (PMSM) is crucial to the closed-loop control. The paper presents vision-based method to measure the rotor orientation of PMSM. The pattern code generation, deriving method and pattern processing algorithm are introduced. The simulation in OpenGL is carried out. Combined with complete nonlinear dynamic model and adaptive PD controller, the control strategy is simulated. The results of the study provide reference for homogeneous motor's research.