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Open AccessArticle
Research on Torque Modeling of the Reluctance Spherical Motor Based on Magnetic Equivalent Circuit Method
by
Lufeng Ju
Lufeng Ju
Honglei Liu
Honglei Liu
Guoli Li
Guoli Li
Dr. Guoli Li currently works as a Professor and Doctoral Supervisor at the Department of Electrical [...]
Dr. Guoli Li currently works as a Professor and Doctoral Supervisor at the Department of Electrical Engineering and Automation, Anhui University, China. She received her Ph.D. in Nuclear Energy Science and Engineering from the Hefei Institute of Physical Science, Chinese Academy of Sciences in June 2006. She is also the Director of the National and Local Joint Engineering Laboratory for Energy-saving Motors and Control Technology, the Director of the Provincial Electrical and Automation Basic Experimental Teaching Demonstration Experimental Center, Vice Chairman of the Small Power Motor Technical Committee of the China Electrotechnical Society, Member of the Electronic Control System and Device Professional Committee of the China Electrotechnical Society, and Director of the China Electrotechnical Society. She has been engaged in research on motor intelligent optimization design, robot electric drive technology, high/low-voltage circuit breakers, etc.
Qunjing Wang
Qunjing Wang
Dr. Qunjing Wang is a Professor and Doctoral Supervisor at the Department of Electrical Engineering [...]
Dr. Qunjing Wang is a Professor and Doctoral Supervisor at the Department of Electrical Engineering and Automation, Anhui University, China, formerly Deputy Secretary of the Party Committee and Executive Vice President of Anhui University, and currently Chairman of the Academic Committee of Anhui University, Director of the Power Quality Engineering Center of the Ministry of Education, and Fellow of the Chinese Electrotechnical Society. He studied at Hefei University of Technology and University of Science and Technology of China and obtained bachelor's, master's, and doctoral degrees in engineering. In 1988, he was sent by the state to study at Dundee University in the UK. He has mainly engaged in research on new energy vehicle motors and their control, new power electronics and power transmission, robot joint drive motors, new energy power generation systems, etc.
Kangjian Zha
Kangjian Zha
Department of Electrical Engineering and Automation, Anhui University, Hefei 230601, China
*
Author to whom correspondence should be addressed.
Energies 2025, 18(11), 2882; https://doi.org/10.3390/en18112882 (registering DOI)
Submission received: 22 April 2025
/
Revised: 20 May 2025
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Accepted: 22 May 2025
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Published: 30 May 2025
Abstract
Torque modeling is an important research aspect of multi-degree of freedom (multi-DOF) spherical motors, and it is the key to realizing the accurate control of multi-DOF spherical motors. In this paper, a torque modeling method of the reluctance spherical motor (RSPM) based on the magnetic equivalent circuit (MEC) method is proposed. Firstly, the structure of the RSPM is introduced, and the MEC topology of the RSPM is obtained. The calculation formulas of the reluctances in this topology are given. Then the magnetic flux of the RSPM is solved by the mesh analysis method, and the torque is calculated based on the magnetic field energy storage. Finally, the calculated torque is verified by the finite element method (FEM). The verification results show that the torque modeling of the RSPM based on the MEC method is correct, which consumes less memory and time than the three-dimensional finite element method.
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MDPI and ACS Style
Ju, L.; Liu, H.; Li, G.; Wang, Q.; Zha, K.
Research on Torque Modeling of the Reluctance Spherical Motor Based on Magnetic Equivalent Circuit Method. Energies 2025, 18, 2882.
https://doi.org/10.3390/en18112882
AMA Style
Ju L, Liu H, Li G, Wang Q, Zha K.
Research on Torque Modeling of the Reluctance Spherical Motor Based on Magnetic Equivalent Circuit Method. Energies. 2025; 18(11):2882.
https://doi.org/10.3390/en18112882
Chicago/Turabian Style
Ju, Lufeng, Honglei Liu, Guoli Li, Qunjing Wang, and Kangjian Zha.
2025. "Research on Torque Modeling of the Reluctance Spherical Motor Based on Magnetic Equivalent Circuit Method" Energies 18, no. 11: 2882.
https://doi.org/10.3390/en18112882
APA Style
Ju, L., Liu, H., Li, G., Wang, Q., & Zha, K.
(2025). Research on Torque Modeling of the Reluctance Spherical Motor Based on Magnetic Equivalent Circuit Method. Energies, 18(11), 2882.
https://doi.org/10.3390/en18112882
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