Next Article in Journal
Reinforcement Learning Based Energy Management Algorithm for Smart Energy Buildings
Previous Article in Journal
Short-Term Load Forecasting of Natural Gas with Deep Neural Network Regression
Article

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

1
Department of Electrical Engineering, Federal University of Ceará, Center of Technology, Campus of Pici, Fortaleza, Ceará 60455-900, Brazil
2
Department of Electrical Engineering, Federal University of Western Bahia, Campus of Lapa, Bom Jesus da Lapa, Bahia 47600-000, Brazil
3
Department of Teleinformatics Engineering, Federal University of Ceará, Center of Technology, Campus of Pici, Fortaleza, Ceará 60455-900, Brazil
*
Author to whom correspondence should be addressed.
Energies 2018, 11(8), 2009; https://doi.org/10.3390/en11082009
Received: 7 July 2018 / Revised: 31 July 2018 / Accepted: 31 July 2018 / Published: 2 August 2018
The permanent magnet (PM) spherical motor has been subject to growing interest from the scientific community due to its potential for applications in distinct areas, particularly in robotics, prosthetics, satellite control, sensors or camera systems. Motivated by this movement, the current work presents all the steps for the efficient design and construction of a spherical motor model, using compound deposition technology with the aid of a 3D printer. Furthermore, we report comprehensive studies on the accuracy of the positioning system of the proposed motor using only three stator coils, which jointly act to move the rotor axis toward any point in the hemisphere. Unmodeled nonlinear phenomena, such as friction, impair accurate positioning of the motor actuator, but this is solved by means of a visual servo control system, which allows the user to collect input–output data to train an artificial neural network model. Details on the construction of the proposed motor are reported, in addition to the numerical results of the positioning control in tracking a desired trajectory. View Full-Text
Keywords: spherical motor; visual motor control; neural networks; prototype construction; positioning control; design validation spherical motor; visual motor control; neural networks; prototype construction; positioning control; design validation
Show Figures

Figure 1

MDPI and ACS Style

Souza, K.N.; Pontes, R.S.T.; Oliveira, A.P.; Barreto, G.A. Design and Control of a Three-Coil Permanent Magnet Spherical Motor. Energies 2018, 11, 2009. https://doi.org/10.3390/en11082009

AMA Style

Souza KN, Pontes RST, Oliveira AP, Barreto GA. Design and Control of a Three-Coil Permanent Magnet Spherical Motor. Energies. 2018; 11(8):2009. https://doi.org/10.3390/en11082009

Chicago/Turabian Style

Souza, Kleymilson N., Ricardo S.T. Pontes, Andressa P. Oliveira, and Guilherme A. Barreto 2018. "Design and Control of a Three-Coil Permanent Magnet Spherical Motor" Energies 11, no. 8: 2009. https://doi.org/10.3390/en11082009

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop