Method of Current Compensation for Reducing Error of Holding Torque of Permanent-Magnet Spherical Wheel Motor

A permanent magnet spherical wheel motor, which consists of magnets on rotor and coils on spherical stator, is able to operate on 3-D space as using magnetic alignment torque generated from between coils and magnets. Especially the shaft can be tilted stably by optimized coil position on stator. Bec...

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Bibliographic Details
Published in:IEEE transactions on magnetics 2009-06, Vol.45 (6), p.2819-2822
Main Authors: KANG, Dong-Woo, KIM, Won-Ho, GO, Sung-Chul, JIN, Chang-Sung, WON, Sung-Hong, KOO, Dae-Hyun, LEE, Ju
Format: Article
Language:English
Subjects:
Coils
Compensation
Cross-disciplinary physics: materials science
rheology
Current compensation
curve fitting method
Design engineering
Educational institutions
Exact sciences and technology
Industry applications
Magnetic analysis
Magnetism
Magnets
Materials science
Mathematical analysis
Mathematical models
Motors
Other topics in materials science
Permanent magnet motors
permanent magnets electric machines
Physics
Rotors
Shafts
spherical wheel motor
Stators
Torque
Wheels
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Summary:A permanent magnet spherical wheel motor, which consists of magnets on rotor and coils on spherical stator, is able to operate on 3-D space as using magnetic alignment torque generated from between coils and magnets. Especially the shaft can be tilted stably by optimized coil position on stator. Because, however, the spherical wheel motor has feature of 3-D structure as relative position between coils and magnets, stable holding torque for rotor position should be analyzed as function of the tilt degree of a shaft. The characteristic of stable holding torque can be changed nonlinearly by the alpha and beta degrees of a shaft. Therefore, when reference current is commanded at coils, the shaft cannot be tilted to the reference position exactly for the nonlinear characteristic. In this paper, for improving the nonlinear phenomenon of holding torque, the authors research and improve a current compensation function to increase stable operating range. Also, the compensation function was estimated by using torque ripple computed from torque simulation.
ISSN:0018-9464
1941-0069
DOI:10.1109/TMAG.2009.2018676