Three-dimensional motor suitable for robotics and its decoupling control
The electromagnetic model and mechanical model of a three-dimensional motor (3DM) suitable for robotics have been developed. There exist complex nonlinear coupling relationships among its inner structures, which seriously restrict the control performance of 3DM. Firstly, the electromagnetical model...
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| creator | Shenghua Huang Shanming Wan Guangjie Fu |
| description | The electromagnetic model and mechanical model of a three-dimensional motor (3DM) suitable for robotics have been developed. There exist complex nonlinear coupling relationships among its inner structures, which seriously restrict the control performance of 3DM. Firstly, the electromagnetical model and mechanical model of the 3DM are proposed. Then its electromagnetic decoupling control theory is introduced. A Gopinath's method based observer is used to compensate the coupling torques and load torques so as to implement the mechanical decoupling and feedforward control of the 3DM. A kind of hybrid digital-to-analog circuit based on 8098 CPU is made to control the running of the 3DM. The simulation and experimental results given in this paper show that a servo system using a 3DM based on this theory has good servo tracing performance. |
| doi_str_mv | 10.1109/IECON.1996.570763 |
| format | Conference Proceeding |
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There exist complex nonlinear coupling relationships among its inner structures, which seriously restrict the control performance of 3DM. Firstly, the electromagnetical model and mechanical model of the 3DM are proposed. Then its electromagnetic decoupling control theory is introduced. A Gopinath's method based observer is used to compensate the coupling torques and load torques so as to implement the mechanical decoupling and feedforward control of the 3DM. A kind of hybrid digital-to-analog circuit based on 8098 CPU is made to control the running of the 3DM. The simulation and experimental results given in this paper show that a servo system using a 3DM based on this theory has good servo tracing performance.</description><identifier>ISBN: 0780327756</identifier><identifier>ISBN: 9780780327757</identifier><identifier>DOI: 10.1109/IECON.1996.570763</identifier><language>eng</language><publisher>IEEE</publisher><subject>Control theory ; Electromagnetic coupling ; Electromagnetic modeling ; Magnetic fields ; Power engineering ; Robots ; Rotors ; Servomechanisms ; Servomotors ; Torque control</subject><ispartof>Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation, 1996, Vol.3, p.1890-1895 vol.3</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/570763$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,778,782,787,788,2054,4038,4039,27912,54907</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/570763$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Shenghua Huang</creatorcontrib><creatorcontrib>Shanming Wan</creatorcontrib><creatorcontrib>Guangjie Fu</creatorcontrib><title>Three-dimensional motor suitable for robotics and its decoupling control</title><title>Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation</title><addtitle>IECON</addtitle><description>The electromagnetic model and mechanical model of a three-dimensional motor (3DM) suitable for robotics have been developed. There exist complex nonlinear coupling relationships among its inner structures, which seriously restrict the control performance of 3DM. Firstly, the electromagnetical model and mechanical model of the 3DM are proposed. Then its electromagnetic decoupling control theory is introduced. A Gopinath's method based observer is used to compensate the coupling torques and load torques so as to implement the mechanical decoupling and feedforward control of the 3DM. A kind of hybrid digital-to-analog circuit based on 8098 CPU is made to control the running of the 3DM. The simulation and experimental results given in this paper show that a servo system using a 3DM based on this theory has good servo tracing performance.</description><subject>Control theory</subject><subject>Electromagnetic coupling</subject><subject>Electromagnetic modeling</subject><subject>Magnetic fields</subject><subject>Power engineering</subject><subject>Robots</subject><subject>Rotors</subject><subject>Servomechanisms</subject><subject>Servomotors</subject><subject>Torque control</subject><isbn>0780327756</isbn><isbn>9780780327757</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1996</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8tKAzEARQMiqLUfoKv8wIx5TF5LGaotFLup65KnRjKTkqQL_96BejaXs7lwAHjCqMcYqZfdZjx89Fgp3jOBBKc34AEJiSgRgvE7sK71By0MjFEk78H2-F2871yc_FxjnnWCU265wHqJTZvkYVikZJNbtBXq2cHYKnTe5ss5xfkL2jy3ktMjuA06Vb_-3xX4fNscx223P7zvxtd9FzEaWmeNY5wTYoh0igeGrXJGDtJZQiyhXBOjqGDIBOWZCBIRq4mnlqkQhsXpCjxff6P3_nQucdLl93RtpX_jHEth</recordid><startdate>1996</startdate><enddate>1996</enddate><creator>Shenghua Huang</creator><creator>Shanming Wan</creator><creator>Guangjie Fu</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1996</creationdate><title>Three-dimensional motor suitable for robotics and its decoupling control</title><author>Shenghua Huang ; Shanming Wan ; Guangjie Fu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-cbd56622b28d96f51c9db848dc22c236a2b93750bf9e57f802ca2e3c59ff47f83</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1996</creationdate><topic>Control theory</topic><topic>Electromagnetic coupling</topic><topic>Electromagnetic modeling</topic><topic>Magnetic fields</topic><topic>Power engineering</topic><topic>Robots</topic><topic>Rotors</topic><topic>Servomechanisms</topic><topic>Servomotors</topic><topic>Torque control</topic><toplevel>online_resources</toplevel><creatorcontrib>Shenghua Huang</creatorcontrib><creatorcontrib>Shanming Wan</creatorcontrib><creatorcontrib>Guangjie Fu</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Shenghua Huang</au><au>Shanming Wan</au><au>Guangjie Fu</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Three-dimensional motor suitable for robotics and its decoupling control</atitle><btitle>Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation</btitle><stitle>IECON</stitle><date>1996</date><risdate>1996</risdate><volume>3</volume><spage>1890</spage><epage>1895 vol.3</epage><pages>1890-1895 vol.3</pages><isbn>0780327756</isbn><isbn>9780780327757</isbn><abstract>The electromagnetic model and mechanical model of a three-dimensional motor (3DM) suitable for robotics have been developed. There exist complex nonlinear coupling relationships among its inner structures, which seriously restrict the control performance of 3DM. Firstly, the electromagnetical model and mechanical model of the 3DM are proposed. Then its electromagnetic decoupling control theory is introduced. A Gopinath's method based observer is used to compensate the coupling torques and load torques so as to implement the mechanical decoupling and feedforward control of the 3DM. A kind of hybrid digital-to-analog circuit based on 8098 CPU is made to control the running of the 3DM. The simulation and experimental results given in this paper show that a servo system using a 3DM based on this theory has good servo tracing performance.</abstract><pub>IEEE</pub><doi>10.1109/IECON.1996.570763</doi></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISBN: 0780327756 |
| ispartof | Proceedings of the 1996 IEEE IECON. 22nd International Conference on Industrial Electronics, Control, and Instrumentation, 1996, Vol.3, p.1890-1895 vol.3 |
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| language | eng |
| recordid | cdi_ieee_primary_570763 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control theory Electromagnetic coupling Electromagnetic modeling Magnetic fields Power engineering Robots Rotors Servomechanisms Servomotors Torque control |
| title | Three-dimensional motor suitable for robotics and its decoupling control |
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