基于洛伦兹力三自由度球形电机的矢量控制  

Vector Control of 3-DOF Spherical Motor Based on Lorentz Force

作　　者：方愿捷[1] 凌有铸[1] 李丹[1] 

机构地区：[1]安徽工程大学安徽省电气传动与控制重点实验室,安徽芜湖241000

出　　处：《测控技术》2012年第11期63-66,共4页Measurement & Control Technology

基　　金：安徽省自然科学基金资助项目(11040606M115)

摘　　要：针对永磁球形电机结构和洛伦兹力的控制方法,借鉴单自由度永磁同步电机的矢量控制,提出一种基于球面切矢量的球形电机控制算法。该控制算法通过球面空间的矢量分析和四元数计算,获得球面切矢量,进而解得控制电机定子各个线圈中电流所产生的洛伦兹力,实现球形电机的点到点运动。仿真实验给出了该算法的实验结果,实验结果表明,该算法下,球形电机的球面切矢量得到计算,获得的矢量将直接应用于永磁球形电机洛伦兹力的控制。Referenced from 1-DOF permanent magnet magnet spherical motor control algorithm based on the synchronous motor vector control method, a permanent spherical tangent vector is proposed, this control algo- rithm depends on the spheical permanent magnet motor structure and the Lorentz force of the motor control method. Through spherical space vector analysis and quaternion caculation, the spherical tangent vector and the Lorentz force of each stator coil current generated are obtained, the point to point movement of the spherical motor is realizied in this algorithm. The results of the algorithm are gives by simulation, experimental data show that the spherical tangent vector of the spherical motor is caculated in this algorithm, the vector will be directly applied to the Lorentz force control of permanent magnet spherical motor.

关 键 词：永磁球形电机 洛伦兹力 点到点 矢量控制 

分 类 号：TM351[电气工程—电机]