"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."--Page 4 of cover

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lgrsnf/K:\!genesis\0day\spr\10.1007%2F978-981-10-7962-7.pdf

nexusstc/Permanent Magnet Spherical Motors/eab5cafe99b83943de2baa4fa891b355.pdf

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zlib/Computers/Computer Science/Kun Bai, Kok-Meng Lee/Permanent Magnet Spherical Motors_3578127.pdf

460737_Print.indd

Bai, Kun, Lee, Kok-Meng

0002624

Springer ; Huazhong University of Science and Technology Press

Springer Science + Business Media Singapore Pte Ltd

Research on intelligent manufacturing (Online), 1st ed. 2018, Singapore, 2018

Research on Intelligent Manufacturing, 1st edition 2018, Singapore, 2018

Research on intelligent manufacturing, Singapore, Wuhan, China, 2018

Springer Nature, Singapore, 2018

Singapore, Singapore

Mar 27, 2018

sm68457465

producers:
Acrobat Distiller 10.0.0 (Windows)

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Source title: Permanent Magnet Spherical Motors: Model and Field Based Approaches for Design, Sensing and Control (Research on Intelligent Manufacturing)

Preface 6
Contents 8
Nomenclature 11
1 Introduction 13
1.1 Background 13
1.2 The State of the Art 15
1.2.1 Magnetic Modeling and Analysis 18
1.2.2 Orientation Sensing 20
1.2.3 Control Methods 22
1.3 Book Outline 24
References 26
Modeling Methods 30
2 General Formulation of PMSMs 31
2.1 PMSM Electromagnetic System Modeling 31
2.1.1 Governing Equations of Electromagnetic Field 31
2.1.2 Boundary Conditions 34
2.1.3 Magnetic Flux Linkage and Energy 35
2.1.4 Magnetic Force/Torque 36
2.2 PMSM Rotor Dynamics 37
References 40
3 Distributed Multi-pole Models 41
3.1 Distributed Multi-pole Model for PMs 41
3.1.1 PM Field with DMP Model 42
3.1.2 Numerical Illustrative Examples 45
3.2 Distributed Multi-pole Model for EMs 53
3.2.1 Equivalent Magnetization of the ePM 55
3.2.2 Illustrations of Magnetic Field Computation 57
3.3 Dipole Force/Torque Model 57
3.3.1 Force and Torque on a Magnetic Dipole 57
3.3.2 Illustration of Magnetic Force Computation 59
3.4 Image Method with DMP Models 62
3.4.1 Image Method with Spherical Grounded Boundary 63
3.4.2 Illustrative Examples 66
3.4.3 Effects of Iron Boundary on the Torque 68
3.5 Illustrative Numerical Simulations for PMSM Design 72
3.5.1 Pole Pair Design 75
3.5.2 Static Loading Investigation 80
3.5.3 Weight-Compensating Regulator 81
Appendix 85
References 89
4 PMSM Force/Torque Model for Real-Time Control 91
4.1 Force/Torque Formulation 91
4.1.1 Magnetic Force/Torque Based on the Kernel Functions 92
4.1.2 Simplified Model: Axis-Symmetric EMs/PMs 95
4.1.3 Inverse Torque Model 96
4.2 Numerical Illustrations 96
4.2.1 Axis-Asymmetric EM/PMs 96
4.2.2 Axis-Symmetric EM/PM 100
4.3 Illustrative PMSM Torque Modelling 103
Sensing Methods 106
5 Field-Based Orientation Sensing 107
5.1 Coordinate Systems and Sensor Placement 107
5.2 Field Mapping and Segmentation 108
5.3 Artificial Neural Network Inverse Map 110
5.4 Experimental Investigation 111
5.4.1 2-DOF Concurrent Characterization 112
References 115
6 A Back-EMF Method for Multi-DOF Motion Detection 116
6.1 Back-EMF for Multi-DOF Motion Sensing 116
6.1.1 EMF Model in a Single EM-PM Pair 118
6.1.2 Back-EMF with Multiple EM-PM Pairs 119
6.2 Implementation of Back-EMF Method on a PMSM 121
6.2.1 Mechanical and Magnetic Structure of the PMSM 122
6.2.2 Numerical Solutions for the MFL Model 123
6.2.3 Experiment and Discussion 125
6.2.4 Parameter Estimation of the PMSM with Back-EMF Method 127
Appendix 129
References 129
Control Methods 130
7 Direct Field-Feedback Control 131
7.1 Traditional Orientation Control Method for Spherical Motors 131
7.1.1 PD Control Law and Stability Analysis 132
7.1.2 Comments on Implementation of Traditional Control Methods 133
7.2 Direct Field-Feedback Control 134
7.2.1 Determination of Bijective Domain 135
7.2.2 DFC Control Law and Control Parameter Determination 135
7.2.3 DFC with Multi-sensors 136
7.3 Numerical 1-DOF Illustrative Example 137
7.3.1 Sensor Design and Bijective Domain Identification 137
7.3.2 Field-Based Control Law 139
7.3.3 Numerical Illustrations of Multiple Bijective Domains 141
7.4 Experimental Investigation of DFC for 3-DOF PMSM 141
7.4.1 System Description 141
7.4.2 Sensor Design and Bijective Domains 144
7.4.3 Bijective Domain 145
7.4.4 TCV Computation Using Artificial Neural Network (ANN) 148
7.4.5 Experimental Investigation 148
Appendix 156
References 156
8 A Two-Mode PMSM for Haptic Applications 157
8.1 Description of the PMSM Haptic Device 157
8.1.1 Two-Mode Configuration Design for 6-DOF Manipulation 159
8.1.2 Numerical Model for Magnetic Field/Torque Computation 160
8.1.3 Field-Based TCV Estimation 161
8.2 Snap-Fit Simulation 162
8.2.1 Snap-Fit Performance Analyses 164
8.2.2 Snap-Fit Haptic Application 165
Appendix: PM/EM/Sensor Position Coordinates 169
References 170

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

2018-08-15