Dynamic Modeling of Reluctance Spherical Motor Based on D-H Parameter

doi:10.11985/2024.01.016

Abstract

Abstract:

Dynamic model of 3-DOF spherical motor is a mathematical description of the rotor motion process. In the closed-loop control of spherical motor, it is used to calculate the drive torque required when the rotor moves from the current position to the desired position. Aiming at calculating the driving torque of reluctance spherical motor, a dynamic equation modeling method is proposed. According to the motion characteristics of reluctance spherical motor, the spherical rotor is equivalent to three rotary joints in series. The dynamics equation of reluctance spherical motor is derived based on D-H parameters. Then, the unknown parameters in the equation are identified. The prediction results of the final model agree well with the test data. Finally, the reliability of the model under a specific motion is verified by experiments, which provides a theoretical basis for the drive control of reluctance spherical motor.

Key words: Reluctance spherical motor, D-H parameter, dynamics model, robot, parameter identification

CLC Number:

TM351

LI Ruiying, LI Guoli, JU Lufeng, WANG Qunjing. Dynamic Modeling of Reluctance Spherical Motor Based on D-H Parameter[J]. Journal of Electrical Engineering, 2024, 19(1): 150-158.

Figures/Tables 13

References 18

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主要参数	数值
定子外径/mm	122
转子外径/mm	73
气隙长度/mm	1
线圈匝数	350
转轴长度/mm	40

序号	a_i	α_i	d_i	变量
1	0	$\frac{\mathrm{ }\!\!\pi\!\!\text{ }}{2}$	l₁	θ₁∈[-180°180°]
2	l₂	$-\frac{\mathrm{ }\!\!\pi\!\!\text{ }}{2}$	0	θ₂∈[-33°33°]
3	0	0	l₃	θ₃∈[-180°180°]

序号	运动组合	运动形式	运动轨迹
1	θ₁	自旋	点
2	θ₂	侧倾	圆弧
3	θ₃	自旋	点
4	θ₁+θ₂	章动	球面螺旋线
5	θ₁+θ₃	自旋/旋进	点/圆
6	θ₂+θ₃	侧倾+轴伸自转	圆弧
7	θ₁+θ₂+θ₃	复合运动	球面螺旋线

参数	辨识结果/(kg·mm²)
J_xy₁	32.531
J_xy₂	29.870
J_xy₃	30.001
J_z₂	56.014
J_z₃	89.235