{"title":"三自由度球面电机的自适应控制","authors":"W. Shanming, Huang Shenghua, Fu Guangjie","doi":"10.1109/IEMDC.1997.604141","DOIUrl":null,"url":null,"abstract":"This paper presents the electromagnetic model and the mechanical model of three-degrees-of-freedom spherical motor (3DOFSM). The vector control and disturbance torque observer can realize the electromagnetic decoupling and mechanical decoupling control of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results.","PeriodicalId":176640,"journal":{"name":"1997 IEEE International Electric Machines and Drives Conference Record","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The adaptive control of three-degrees-of-freedom spherical motor\",\"authors\":\"W. Shanming, Huang Shenghua, Fu Guangjie\",\"doi\":\"10.1109/IEMDC.1997.604141\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents the electromagnetic model and the mechanical model of three-degrees-of-freedom spherical motor (3DOFSM). The vector control and disturbance torque observer can realize the electromagnetic decoupling and mechanical decoupling control of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results.\",\"PeriodicalId\":176640,\"journal\":{\"name\":\"1997 IEEE International Electric Machines and Drives Conference Record\",\"volume\":\"22 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-05-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1997 IEEE International Electric Machines and Drives Conference Record\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IEMDC.1997.604141\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1997 IEEE International Electric Machines and Drives Conference Record","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IEMDC.1997.604141","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The adaptive control of three-degrees-of-freedom spherical motor
This paper presents the electromagnetic model and the mechanical model of three-degrees-of-freedom spherical motor (3DOFSM). The vector control and disturbance torque observer can realize the electromagnetic decoupling and mechanical decoupling control of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results.
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