DOI QR코드

DOI QR Code

Design and control of a permanent magnet spherical wheel motor

  • Park, Junbo (ICT Materials & Components Research Laboratory, Electronics and Telecommunications Research Institute) ;
  • Kim, Minki (ICT Materials & Components Research Laboratory, Electronics and Telecommunications Research Institute) ;
  • Jang, Hyun Gyu (ICT Materials & Components Research Laboratory, Electronics and Telecommunications Research Institute) ;
  • Jung, Dong Yun (ICT Materials & Components Research Laboratory, Electronics and Telecommunications Research Institute) ;
  • Park, Jong Moon (ICT Materials & Components Research Laboratory, Electronics and Telecommunications Research Institute)
  • 투고 : 2018.11.14
  • 심사 : 2019.03.12
  • 발행 : 2019.12.06

초록

We present a permanent magnet-based spherical wheel motor that can be used in omnidirectional mobility applications. The proposed motor consists of a ball-shaped rotor with a magnetic dipole and a hemispherical shell with circumferential air-core coils attached to the outer surface acting as a stator. Based on the rotational symmetry of the rotor poles and stator coils, we are able to model the rotor poles and stator coils as dipoles. A simple physical model constructed based on a torque model enables fast numerical simulations of motor dynamics. Based on these numerical simulations, we test various control schemes that enable constant-speed rotation along arbitrary axes with small rotational attitude error. Torque analysis reveals that the back electromotive force induced in the coils can be used to construct a control scheme that achieves the desired results. Numerical simulations of trajectories confirm that even without explicit methods for correcting the rotational attitude error, it is possible to drive the motor with a low attitude error (<5°) using the proposed control scheme.

키워드

참고문헌

  1. K.M. Lee and C.K. Kwan, Design Concept Development of a Spherical Stepper for Robotic Applications, IEEE Trans. Robot. Autom. 7 (1991), no. 1, 175-181. https://doi.org/10.1109/70.68082
  2. W. Wang et al., Design and Control of a Novel Spherical Permanent Magnet Actuator with Three Degrees of Freedom, IEEE/ASME Trans. Mechatronics 8 (2003), no. 4, 457-468. https://doi.org/10.1109/TMECH.2003.820003
  3. K. Kahlen et al, Torque control of a spherical machine with variable pole pitch, IEEE Trans. Power Electron. 19 (2004), 1628-1634. https://doi.org/10.1109/TPEL.2004.836623
  4. L. Yan et al, Design and analysis of a permanent magnet spherical actuator, IEEE/ASME Trans. Mechatronics 13 (2008), 239-248. https://doi.org/10.1109/TMECH.2008.918573
  5. G.S. Chirikjian and D. Stein, Kinematic Design and Commutation of a Spherical Stepper Motor, IEEE/ASME Trans. Mechatronics 5 (1999), no. 4, 342-353.
  6. T. Yano, Proposal of Polyhedron Based Spherical Stepping Motors, in SPEEDAM 2008 - Int. Symp. Power Electron. Electr. Drives, Autom. Motion, Ischia, Italy, June 11-13, 2008, pp. 1433-1438.
  7. N. Kasashima et al., Torque control method of an electromagnetic spherical motor using torque map, IEEE/ASME Trans. Mechatronics 21 (2016), 2050-2060. https://doi.org/10.1109/TMECH.2016.2541679
  8. L. Rossini et al., Closed-loop magnetic bearing and angular velocity control of a reaction sphere actuator, Mechatronics 30 (2015), 214-224. https://doi.org/10.1016/j.mechatronics.2015.07.003
  9. K. Bai and K.M. Lee, Direct Field-feedback Control of a Ball-joint-like Permanent-magnet Spherical Motor, IEEE/ASME Trans. Mechatronics 19 (2014), no. 3, 975-986. https://doi.org/10.1109/TMECH.2013.2264565
  10. D. Stein, E.R. Scheinerman, and G.S. Chirikjian, Mathematical Models of Binary Spherical-motion Encoders, IEEE/ASME Trans. Mechatronics 8 (2003), no. 2, 234-244. https://doi.org/10.1109/TMECH.2003.812824
  11. M. Kumagai and R.L. Hollis, Development of a Three-dimensional Ball Rotation Sensing System Using Optical Mouse Sensors, in Proc. - IEEE Int. Conf. Robot. Autom., Shanghai, China, May 9-13, 2011, pp. 5038-5043.
  12. K.M. Lee and H. Son, Distributed Multipole Model for Design of Permanent-magnet-based Actuators, IEEE Trans. Magn. 43 (2007), no. 10, 3904-3913. https://doi.org/10.1109/TMAG.2007.904709
  13. H. Son and K.M. Lee, Distributed Multipole Models for Design and Control of PM Actuators and Sensors, IEEE/ASME Trans. Mechatronics 13 (2008), no. 2, 228-238. https://doi.org/10.1109/TMECH.2008.918544
  14. K.M. Lee, K. Bai, and J. Lim, Dipole Models for Forward/inverse Torque Computation of a Spherical Motor, IEEE/ASME Trans. Mechatronics 14 (2009), no. 1, 46-54. https://doi.org/10.1109/TMECH.2008.2010935
  15. H. Son and K.M. Lee, Two-DOF Magnetic Orientation Sensor Using Distributed Multipole Models for Spherical Wheel Motor, Mechatronics 21 (2011), no. 1, 156-165. https://doi.org/10.1016/j.mechatronics.2010.10.001