Design and Control of a Three-Coil Permanent Magnet Spherical Motor
AbstractThe 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
Share & Cite This Article
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.
Souza KN, Pontes RST, Oliveira AP, Barreto GA. Design and Control of a Three-Coil Permanent Magnet Spherical Motor. Energies. 2018; 11(8):2009.Chicago/Turabian Style
Souza, Kleymilson N.; Pontes, Ricardo S.T.; Oliveira, Andressa P.; Barreto, Guilherme A. 2018. "Design and Control of a Three-Coil Permanent Magnet Spherical Motor." Energies 11, no. 8: 2009.
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.