永磁球形步进电动机运动控制方法  

The Control Method of a Permanent Magnet Spherical Stepper Motor

作　　者：王群京[1] 陈丽霞[1] 李争[1] 倪有源[1] 

机构地区：[1]合肥工业大学,安徽合肥23000

出　　处：《微特电机》2005年第12期5-7,17,共4页Small & Special Electrical Machines

基　　金：国家自然科学基金项目(50377010);安徽省自然科学基金项目(03044103)

摘　　要：介绍了一种三自由度永磁球形步进电动机的控制方法,分析了永磁球形步进电动机定子与转子的结构,然后针对其结构特点及运动原理,提出根据永磁体和线圈铁心的排列组合,建立一张包含位于球形步进电动机转子某一点上物体的所有可能的运动轨迹点的表,根据物体所给定的运动轨迹,采用查表法,最终确定永磁球形步进电动机的通电线圈对,达到控制球形步进电动机,使物体沿着期望的运动轨迹运动的目的。The control method of a type of permanent magnet spherical stepper motor capable of three - degrees - of - freedom motion is mainly presented. The structural characteristics and the motion of the spherical stepper are analyzed,and then a table which consists of all possible stable positions of the spherical stepper is presented. According to the table, the commuting strategy can be attained and therefore the spherical motor can be controlled to achieve the expected trajectory.

关 键 词：三自由度 永磁球形步进电动机 排列组合 运动轨迹 

分 类 号：TM383.6[电气工程—电机]