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Topic under Electromagnet
Source: etd.gatech.edu
File size: 7.59 MB
File type: pdf
Last download on:
Fri May 04, 2012 10:18:51 PM
Short Desciption:
Since an electromagnetic actuator generally consists of rotor, ...... The location and orientation with respect to the XYZ reference frame are described ...
Summary:
Many applications such as automobiles, gyroscopes, machine tools, and transfer
systems require orientation control of a rotating shaft. Demands for multi-degree of
freedom (DOF) actuators in modern industries have motivated this research to develop a
ball-joint-like, brushless, direct-drive spherical wheel motor (SWM) that offers a means
to control the orientation of its rotating shaft.
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SUMMARY ..
Many applications such as automobiles, gyroscopes, machine tools, and transfer
systems require orientation control of a rotating shaft. Demands for multi-degree of
freedom (DOF) actuators in modern industries have motivated this research to develop a
ball-joint-like, brushless, direct-drive spherical wheel motor (SWM) that offers a means
to control the orientation of its rotating shaft.
This thesis presents a general method for deriving a closed-form magnetic field
solution for precise torque calculation. The method, referred here as distributed multi
pole (DMP) modeling, inherits many advantages of the dipole model originally
conceptualized in the context of physics, but provides an effective means to account for
the shape and magnetization of the physical magnet. The DMP modeling method has
been validated by comparing simulated fields and calculated forces against data obtained
experimentally and numerically; the comparisons show excellent agreement. The DMP
models provide a basis to develop a non-contact magnetic sensor for orientation sensing
and control of a rotating shaft. Three controllers have been designed and experimentally
implemented for the SWM; open-loop and PD with/without an observer. The OL control
system, which decouples the spin from the shaft inclination, provides the fundamental
design structure for the SWM and serves as a basis for designing feedback controllers
with/without an observer.
While the observer and controller designs have been developed in the context of a
spherical wheel motor, these techniques along with the models and analysis tools
developed in this research can be applied to design, analysis and control of most electromagnetic devices. We expect that the analytical method along with the orientation
sensor and spherical wheel motor will have broad spectrum of applications
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