Permanentmagnetsphericalmotors：modelandfield

本书系统地提出了建立磁场、位置/方向和力/转矩之间关系的模型，给出了便于计算电磁系统设计过程中涉及的磁场/力/转矩的时效解。介绍了利用直接驱动作动器的结构和动态特行磁场传感与控制的方法，并用实例加以说明。此外，本书还对几种实际应用的致动器的设计和实验研究

CHAPTER 1 INTRODUCTION/1 
1.1Background/1 
1.2The State of the Art/3 
1.21 Marnetic Modeling and Analysis/6 
1.22 Orientation Sensing/8 
1.23 Control Methods/10 
1.3 Book Outline/12 
PART I MODELLING METHODS FOR PMSMS/21 
CHAPTER 2 General Formulation OF PMSMs/21 
2.1 PMSM Electromagnetic System Modeling/21 
2.1.1 Governing Equations of Electromagnetic Field/21 
2.1.2 Boundary Condition/24 
2.1.3 Magnetic Flux Linkage and Energy/25 
2.1.4 Magnetic Force/Torque/26 
2.2 PMSM Rotor Dynamic /27 
References/30 
CHAPTER 3 Distributed Multi-Pole Models/31 
3.1 Distributed Multi-Pole Model for PMs/31 
3.1.1 PM Field with DMP Model/32 
3.1.2 Numerical Illustrative Examples/35 
3.2 Distributed Multi-Pole Model for EMs/43 
3.2.1 Equivalent Magnetization of the ePM/45 
3.2.2 Illustrations of Magnetic Field Computation/47 
3.3 Dipole Force/Torque Model/47 
3.3.1 Force and Torque on a Magnetic Dipole/47 
3.3.2 Illustration of Magnetic Force Computation/49 
3.4 Image Method with DMP Models/52 
3.4.1 Image Method with Spherical Grounded Boundary/53 
3.4.2 Illustrative Examples/56 
3.4.3 Effects of Iron Boundary on the Torque/58 
3.5 Illustrative Numerical Simulations for PMSM Design/62 
3.5.1 Pole Pair Design/65 
3.5.2 Static Loading Investigation/70 
3.5.3 Weight-Compensating Regulator/71 
References/79 
CHAPTER 4 PMSM Force/Torque Model for Real-Time Control/81 
4.1 Force/Torque Formulation/81 
4.1.1 Magnetic Force/Torque Based on The Kernel Functions/82 
4.1.2 Simplified Model: Axis-Symmetric EMs/PMs/85 
4.1.3 Inverse Torque Model/86 
4.2 Numerical Illustrations/86 
4.2.1 Axis-Asymmetric EM/PMs/86 
4.2.2 Axis-Symmetric EM/PM/90 
4.3 Illustrative PMSM Torque Modelling /93 
PART II SENSING Methodsp;
CHAPTER 5 Field-Based Orientation Sensing/99 
5.1 Coordinate Systems and Sensor Placement/99 
5.2 Field Mapping and Segmentation/100 
5.3 Artificial Neural Network Inverse Map/102 
5.4 Experimental Investigation/103 
5.4.1 2-DOF Concurrent Characterization/104 
References/107 
CHAPTER 6 A Back-EMF Method for Multi-DOF Motion Detection/109 
6.1 Back-EMF for Multi-DOF Motion Sensing/109 
6.1.1 EMF Model in a Single EM-PM pair/111 
6.1.2 Back-EMF with Multiple EM-PM pairs/112 
6.2 Implementation of Back-EMF Method on a PMSM/114 
6.2.1 Mechanical and Magnetic Structure of the PMSM/115 
6.2.2 Numerical Solutions for the MFL Model/116 
6.2.3 Experiment and Discussion/118 
6.2.4 Parameter Estimation of the PMSM with back-EMF Method/120 
References/122 
PART III CONTROL METHODS 
CHAPTER 7 Direct Field-Feedback Ccontrol/125 
7.1 Traditional Orientation Control Method for Spherical Motors/125 
7.1.1 PD Control Law and Stability Analysis/126 
7.1.2 Comments on Implementation of Traditional Control Methods/127 
7.2 Direct Field-Feedback Control/128 
7.2.1 Determination of Bijective Domain/129 
7.2.2 DFC Control Law and Control Parameter Determination/129 
7.2.3 DFC with Multi-sensors/130 
7.3 Numerical 1-DOF Illustrative Example/131 
7.3.1 Sensor Design and Bijective Domain Identification/131 
7.3.2 Field-based Control Law/133 
7.3.3 Numerical Illustrations of Multiple Bijective Domains/135 
7.4 Experimental Investigation of DFC for 3-DOF PMSM/135 
7.4.1 System Description/135 
7.4.2 Sensor Design and Bijective Domains/138 
7.4.3 Bijective domain/139 
7.4.4 TCV Computation Using Artificial Neural Network (ANN)/142 
7.4.5 Experimental Investigation/142 
References/150 
CHAPTER 8 A Two-mode PMSM for Haptic Applications/151 
8.1 Description of the PMSM Haptic Device/151 
8.1.1 Two-mode configuration Design for 6-DOF Manipulation/153 
8.1.2 Numerical Model for Magnetic Field/Torque Computation/154 
8.1.3 Field-based TCV Estimation/155 
8.2 Snap-Fit Simulation/156 
8.2.1 Snap-Fit Performance Analyses/158 
8.2.2 Snap-Fit Haptic Application/159 
References/164

Rapid advances of intelligent machines for amsrt manufacturing equipment,driverless vehicles,robotics,and medical industries continue to motivate new designs and app;ocations of multi-degree-of-freedom(DOF) actuators capable of complex motion and precise force/torque manipulations to complete tasks that have never been automated before.Extensive efforts to develop novel actuators with compact designs and designs and dexterous manipulations can be found in both academic research and indusrial development.Unlike multi-DOF systems with designased on bulky serial/parallel combinations cf single-axis spin motors and transmission mechanisms,spherical motors/actuators are direct-drive and can achieve multi-DOF rotational motions in a single ball joint,because of these attractive features,along with the structural simplicity and the capability to achieve quick singularity-free motion,spherical motors are expected to play a significant role in the developmet of intelligent machines.

In thiook,we procide fundamentals for practical designs of spherical motors with the intent to push forward the development of high-performance spherical motos.Thiook is orgajized into three parts: The first part begins with the methods for modeling the three-dimensonal(3D)electromagnetic fields involved in a spherical motor,and the multi-dimensional foces and torques generated electromechanically between its rotor and stator.The second part presents the sensing techniques for measuring the multi-DOF joint motion in real time.The third part offers methods for controlling the coupled rotational motions of spherical motots.While thiook is primmarily intended for students,researchers,and endineers studying/developing spherical motors,those who work in the area of electric machines should find teh modeling.sensing and control methods presented here relevant to the development of various electromagntic motion systems.

Rapid advances of intelligent machines for amsrt manufacturing equipment,driverless vehicles,robotics,and medical industries continue to motivate new designs and app;ocations of multi-degree-of-freedom(DOF) actuators capable of complex motion and precise force/torque manipulations to complete tasks that have never been automated before.Extensive efforts to develop novel actuators with compact designs and designs and dexterous manipulations can be found in both academic research and indusrial development.Unlike multi-DOF systems with designased on bulky serial/parallel combinations cf single-axis spin motors and transmission mechanisms,spherical motors/actuators are direct-drive and can achieve multi-DOF rotational motions in a single ball joint,because of these attractive features,along with the structural simplicity and the capability to achieve quick singularity-free motion,spherical motors are expected to play a significant role in the developmet of intelligent machines. 
In thiook,we procide fundamentals for practical designs of spherical motors with the intent to push forward the development of high-performance spherical motos.Thiook is orgajized into three parts: The first part begins with the methods for modeling the three-dimensonal(3D)electromagnetic fields involved in a spherical motor,and the multi-dimensional foces and torques generated electromechanically between its rotor and stator.The second part presents the sensing techniques for measuring the multi-DOF joint motion in real time.The third part offers methods for controlling the coupled rotational motions of spherical motots.While thiook is primmarily intended for students,researchers,and endineers studying/developing spherical motors,those who work in the area of electric machines should find teh modeling.sensing and control methods presented here relevant to the development of various electromagntic motion systems. 
Thiook is an outcome of the research work accomplished by the authors on spherical motors over the years in Georgia Institute of Technology (USA) and Huazhong University of Science and Technology (China). The authors sincerely appreciate the institutional support received from the two organizations. Part of the work on DMP model and orientation sensing has aluilt on research worky many former students,particularly Dr.Hungsun son and Dr.Shaohui Foong,durng their studies at Georgia Institute of Technology.