Current optimization of 3-DOF permanent magnet spherical motor

This paper presents a novel two level current optimization algorithm for the control of the spherical motor. The proposed spherical motor consists of a rotor with 8 cylindrical permanent magnet (PM) poles and a stator with 24 air-core coils. An analytical expression of the torque model is obtained based on finite-element method. Based on this expression, the relationship between the motor torque and the coil current input is acquired. In order to make better use of the redundant coils, the space geometry method is exploited to study the redundant feature of the spherical motor. The current optimization algorithm is designed in two levels, which can not only minimize the energy consumption of the spherical motor, but also improve the stability and reliability of the spherical motor greatly.

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