Control of an unconventional rotary-linear brushless machine

Electrical drives employing motors able to directly manage multiple degrees of freedom may result of relevant interest in several application fields, e.g. robotics and tooling machines. This paper recalls first the features of a rotary-linear brushless machine recently introduced, highlighting the ideal possibility to achieve a decoupled force/torque regulation through a suitable supply strategy. A control system for such machine is then presented, using adaptive yet relatively simple regulators. A complete drive structure is finally analysed by simulation using a simplified model suitably developed in Matlab-Simulink/sup /spl reg//.

[1]  Jiabin Wang,et al.  Multi-degree-of-freedom spherical permanent magnet motors , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[2]  J. van Dijk,et al.  Mechatronic design of a z-Φ induction actuator , 1997 .

[3]  Wilfried Hofmann,et al.  Control of a rotation-thrust drive with helical motor , 1997, Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066).

[4]  Takashi Onuki,et al.  Rotary-linear induction motor composed of four primaries with independently energized ring-windings , 1997, IAS '97. Conference Record of the 1997 IEEE Industry Applications Conference Thirty-Second IAS Annual Meeting.

[5]  G.P. Widdowson,et al.  Design, analysis and testing of a linear/theta motor for semiconductor applications , 1997, Proceedings of Second International Conference on Power Electronics and Drive Systems.

[6]  A. Landi,et al.  Intelligent Variable Structure Control in Electrical Drives , 1990, Proceedings of the IEEE International Workshop on Intelligent Motion Control.

[7]  Jehuda Ish-Shalom.  Modeling of Sawyer planar sensor and motor dependence on planar yaw angle rotation , 1997, Proceedings of International Conference on Robotics and Automation.