Sliding-mode control of permanent magnetic spherical motor based on co-simulation platform

In order to combine the model-based control algorithm with the physical model, this paper proposed a co-simulation system of permanent magnetic spherical motor (PMSM). Firstly, a new track planning was simulated in ADAMS for the convenience of trajectory tracking. Secondly, a new co-simulation interface was presented, thus the model-based control algorithm can be used to control the physical model generated in ADAMS. Finally, sliding-mode control algorithm was realized based on the co-simulation platform, and the simulation results show that the model-based control algorithm and physical model can combine well based on the above interface.