Y. Fujimoto, Tsubasa Suenaga, Y. Wakayama, Kengo Sawai, A. Shukor
{"title":"Force control of a spiral motor and its application to musculoskeletal biped robot","authors":"Y. Fujimoto, Tsubasa Suenaga, Y. Wakayama, Kengo Sawai, A. Shukor","doi":"10.1109/AMC.2012.6197143","DOIUrl":null,"url":null,"abstract":"This paper proposes force control of a spiral motor in combination with zero-power magnetic levitation control. The motor has a helical-shape mover, which moves in a helical-shape stator without contact. Due to the manufacturing process, the actual spiral motor contains fluctuation of neutral point of the air-gap displacement depending on the mover rotation angle. The d-axis current remain a finite value and copper loss arises even when the mover is located at the center between the stator cores. Zero-power magnetic levitation control is proposed to solve this problem. The proposed control is experimentally verified. In addition, a model of a musculoskeletal biped robot equipped with spiral motors is introduced.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"116 1","pages":"1-6"},"PeriodicalIF":0.0000,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2012.6197143","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
This paper proposes force control of a spiral motor in combination with zero-power magnetic levitation control. The motor has a helical-shape mover, which moves in a helical-shape stator without contact. Due to the manufacturing process, the actual spiral motor contains fluctuation of neutral point of the air-gap displacement depending on the mover rotation angle. The d-axis current remain a finite value and copper loss arises even when the mover is located at the center between the stator cores. Zero-power magnetic levitation control is proposed to solve this problem. The proposed control is experimentally verified. In addition, a model of a musculoskeletal biped robot equipped with spiral motors is introduced.
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