Torque control of a spherical machine with variable pole pitch
Torque control of a spherical machine combining three degrees of freedom in motion is presented. This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with perma...
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| Veröffentlicht in: | IEEE transactions on power electronics 2004-11, Vol.19 (6), p.1628-1634 |
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| container_end_page | 1634 |
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| container_issue | 6 |
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| container_title | IEEE transactions on power electronics |
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| creator | Kahlen, K. Voss, I. Priebe, C. De Doncker, R.W. |
| description | Torque control of a spherical machine combining three degrees of freedom in motion is presented. This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with permanent magnets and an outer stator core casing with 96 stator poles and windings. The currents of the stator coils have to be controlled individually because the pole pitch can vary continuously during operation. A unique solution to calculate all 96 current commands to produce the desired torque does not exist. Different control algorithms are presented on how to choose the individual phase currents to reach the required torque vector. Simulations show satisfying results which are confirmed by experiments. In addition, the controllability of three-dimensional (3D) motion is demonstrated. |
| doi_str_mv | 10.1109/TPEL.2004.836623 |
| format | Article |
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This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with permanent magnets and an outer stator core casing with 96 stator poles and windings. The currents of the stator coils have to be controlled individually because the pole pitch can vary continuously during operation. A unique solution to calculate all 96 current commands to produce the desired torque does not exist. Different control algorithms are presented on how to choose the individual phase currents to reach the required torque vector. Simulations show satisfying results which are confirmed by experiments. In addition, the controllability of three-dimensional (3D) motion is demonstrated.</description><identifier>ISSN: 0885-8993</identifier><identifier>EISSN: 1941-0107</identifier><identifier>DOI: 10.1109/TPEL.2004.836623</identifier><identifier>CODEN: ITPEE8</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Applied sciences ; Coils ; Computer science; control theory; systems ; Control theory. Systems ; Electric power ; Electrical engineering. Electrical power engineering ; Electrical machines ; Electronics ; Exact sciences and technology ; Hardware ; Linear machines ; Machine tools ; Magnetism ; Mathematical analysis ; Motion control ; Motors ; Permanent magnets ; Phase current ; phase currents ; Poles ; Power electronics ; Power electronics, power supplies ; Regulation and control ; Robotics ; Robots ; rotor sphere ; Rotors ; stator coils ; stator core ; Stator cores ; Stator windings ; Stators ; Three dimensional ; Torque ; Torque control</subject><ispartof>IEEE transactions on power electronics, 2004-11, Vol.19 (6), p.1628-1634</ispartof><rights>2005 INIST-CNRS</rights><rights>Copyright Institute of Electrical and Electronics Engineers, Inc. (IEEE) Nov 2004</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c382t-bc38683d38cd0f0c31b79a963ed3ea051dddf33d6da7842244185a544bd14b653</citedby><cites>FETCH-LOGICAL-c382t-bc38683d38cd0f0c31b79a963ed3ea051dddf33d6da7842244185a544bd14b653</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/1353355$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/1353355$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttp://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=16253016$$DView record in Pascal Francis$$Hfree_for_read</backlink></links><search><creatorcontrib>Kahlen, K.</creatorcontrib><creatorcontrib>Voss, I.</creatorcontrib><creatorcontrib>Priebe, C.</creatorcontrib><creatorcontrib>De Doncker, R.W.</creatorcontrib><title>Torque control of a spherical machine with variable pole pitch</title><title>IEEE transactions on power electronics</title><addtitle>TPEL</addtitle><description>Torque control of a spherical machine combining three degrees of freedom in motion is presented. This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with permanent magnets and an outer stator core casing with 96 stator poles and windings. The currents of the stator coils have to be controlled individually because the pole pitch can vary continuously during operation. A unique solution to calculate all 96 current commands to produce the desired torque does not exist. Different control algorithms are presented on how to choose the individual phase currents to reach the required torque vector. Simulations show satisfying results which are confirmed by experiments. In addition, the controllability of three-dimensional (3D) motion is demonstrated.</description><subject>Applied sciences</subject><subject>Coils</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Electric power</subject><subject>Electrical engineering. Electrical power engineering</subject><subject>Electrical machines</subject><subject>Electronics</subject><subject>Exact sciences and technology</subject><subject>Hardware</subject><subject>Linear machines</subject><subject>Machine tools</subject><subject>Magnetism</subject><subject>Mathematical analysis</subject><subject>Motion control</subject><subject>Motors</subject><subject>Permanent magnets</subject><subject>Phase current</subject><subject>phase currents</subject><subject>Poles</subject><subject>Power electronics</subject><subject>Power electronics, power supplies</subject><subject>Regulation and control</subject><subject>Robotics</subject><subject>Robots</subject><subject>rotor sphere</subject><subject>Rotors</subject><subject>stator coils</subject><subject>stator core</subject><subject>Stator cores</subject><subject>Stator windings</subject><subject>Stators</subject><subject>Three dimensional</subject><subject>Torque</subject><subject>Torque control</subject><issn>0885-8993</issn><issn>1941-0107</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2004</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kEFrGzEQRkVoIW6Se6CXpZDSy7ojjaTVXgohpE3BkBzcs9BKWqywXrnSuqH_PlpsMOSQy8xh3nzMPEKuKSwphfb7-ul-tWQAfKlQSoZnZEFbTmug0HwgC1BK1Kpt8Zx8yvkZgHIBdEF-rGP6u_eVjeOU4lDFvjJV3m18CtYM1dbYTRh99RKmTfXPpGC6wVe7OJcw2c0l-dibIfurY78gf37er-8e6tXjr993t6vaomJT3ZUmFTpU1kEPFmnXtKaV6B16A4I653pEJ51pFGeMc6qEEZx3jvJOCrwgXw-5uxTLuXnS25CtHwYz-rjPmqmGSdbO4Ld3QSobylTJh4J-eYM-x30ayxuagZRKSckLBAfIpphz8r3epbA16b-moGfxehavZ_H6IL6s3BxzTS4O-2RGG_JpTzKBQGXhPh-44L0_jVEgCoGv1vGJyw</recordid><startdate>20041101</startdate><enddate>20041101</enddate><creator>Kahlen, K.</creator><creator>Voss, I.</creator><creator>Priebe, C.</creator><creator>De Doncker, R.W.</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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Electrical power engineering</topic><topic>Electrical machines</topic><topic>Electronics</topic><topic>Exact sciences and technology</topic><topic>Hardware</topic><topic>Linear machines</topic><topic>Machine tools</topic><topic>Magnetism</topic><topic>Mathematical analysis</topic><topic>Motion control</topic><topic>Motors</topic><topic>Permanent magnets</topic><topic>Phase current</topic><topic>phase currents</topic><topic>Poles</topic><topic>Power electronics</topic><topic>Power electronics, power supplies</topic><topic>Regulation and control</topic><topic>Robotics</topic><topic>Robots</topic><topic>rotor sphere</topic><topic>Rotors</topic><topic>stator coils</topic><topic>stator core</topic><topic>Stator cores</topic><topic>Stator windings</topic><topic>Stators</topic><topic>Three dimensional</topic><topic>Torque</topic><topic>Torque control</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kahlen, K.</creatorcontrib><creatorcontrib>Voss, I.</creatorcontrib><creatorcontrib>Priebe, C.</creatorcontrib><creatorcontrib>De Doncker, R.W.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on power electronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kahlen, K.</au><au>Voss, I.</au><au>Priebe, C.</au><au>De Doncker, R.W.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Torque control of a spherical machine with variable pole pitch</atitle><jtitle>IEEE transactions on power electronics</jtitle><stitle>TPEL</stitle><date>2004-11-01</date><risdate>2004</risdate><volume>19</volume><issue>6</issue><spage>1628</spage><epage>1634</epage><pages>1628-1634</pages><issn>0885-8993</issn><eissn>1941-0107</eissn><coden>ITPEE8</coden><abstract>Torque control of a spherical machine combining three degrees of freedom in motion is presented. This drive can be used for machine tools and robots to replace conventional rotating or linear machines which are connected in series or parallel. The proposed motor consists of a rotor sphere with permanent magnets and an outer stator core casing with 96 stator poles and windings. The currents of the stator coils have to be controlled individually because the pole pitch can vary continuously during operation. A unique solution to calculate all 96 current commands to produce the desired torque does not exist. Different control algorithms are presented on how to choose the individual phase currents to reach the required torque vector. Simulations show satisfying results which are confirmed by experiments. In addition, the controllability of three-dimensional (3D) motion is demonstrated.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TPEL.2004.836623</doi><tpages>7</tpages></addata></record> |
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| identifier | ISSN: 0885-8993 |
| ispartof | IEEE transactions on power electronics, 2004-11, Vol.19 (6), p.1628-1634 |
| issn | 0885-8993 1941-0107 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Applied sciences Coils Computer science control theory systems Control theory. Systems Electric power Electrical engineering. Electrical power engineering Electrical machines Electronics Exact sciences and technology Hardware Linear machines Machine tools Magnetism Mathematical analysis Motion control Motors Permanent magnets Phase current phase currents Poles Power electronics Power electronics, power supplies Regulation and control Robotics Robots rotor sphere Rotors stator coils stator core Stator cores Stator windings Stators Three dimensional Torque Torque control |
| title | Torque control of a spherical machine with variable pole pitch |
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