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| Analysis of Torque Characteristics and Electrifying Strategy of Permanent Magnet Spherical Motor Based on Triangular Combination Coils |
| Guo Xiwen1,2,3, Li Shen1,2, Wang Qunjing1,2,3, Zhou Rui1,2,3, Wen Yan1,2 |
1. School of Electrical Engineering and Automation Anhui University Hefei 230601 China;
2. National Engineering Laboratory of Energy-Saving Motor & Control Technology Anhui University Hefei 230601 China;;
3. Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control Anhui University Hefei 230601 China |
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Abstract In order to reduce the amount of control current calculation in the trajectory tracking of permanent magnet spherical motor (PMSM), an electrifying strategy based on the triangular combination coils is proposed. Firstly, by the Maxwell electromagnetic analysis software, the static electromagnetic torque model of single coil was established based on the superposition principle. Then, the static electromagnetic torque of different combination coil spin and tilt motions was compared, and then the electromagnetic torque equation based on triangular combination coils was established. At the same time, the control currents of the stator coils were obtained by the current-torque expression. Finally, the feasibility of the proposed scheme was verified by the simulation and experimental results. Compared with the independent control method of a single coil, this electrifying strategy based on the triangular combination coils has no motion singularity in the motion range, which significantly reduces the computation amount of control current.
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Received: 11 April 2018
Published: 05 May 2019
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2019, Vol. 34 
