Permanent Magnet Spherical Motors

Description

This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter. Front Matter ....Pages i-xii Introduction (Kun Bai, Kok-Meng Lee)....Pages 1-17 Front Matter ....Pages 19-19 General Formulation of PMSMs (Kun Bai, Kok-Meng Lee)....Pages 21-30 Distributed Multi-pole Models (Kun Bai, Kok-Meng Lee)....Pages 31-80 PMSM Force/Torque Model for Real-Time Control (Kun Bai, Kok-Meng Lee)....Pages 81-95 Front Matter ....Pages 97-97 Field-Based Orientation Sensing (Kun Bai, Kok-Meng Lee)....Pages 99-107 A Back-EMF Method for Multi-DOF Motion Detection (Kun Bai, Kok-Meng Lee)....Pages 109-122 Front Matter ....Pages 123-123 Direct Field-Feedback Control (Kun Bai, Kok-Meng Lee)....Pages 125-150 A Two-Mode PMSM for Haptic Applications (Kun Bai, Kok-Meng Lee)....Pages 151-164