Vol. 62 | nr. 4 | Octombrie-Decembrie 2014 Articolul 13

Collaborative Modeling and Control of a 3-DOF Permanent Magnet Spherical Motor
(full text in English)

Xiwen GUO
To meet the requirement of optimizing the design and control of a 3 degrees-of-freedom (DOF) permanent magnet spherical motor (PMSM), a collaborative simulation platform based on virtual prototype tools was presented in this paper. Firstly, the basic structure of PMSM and the mathematical model were described. Secondly, the prototype of PMSM rotor was set up in SolidWorks, and then imported in Automatic Dynamic Analysis of Mechanical Systems (ADAMS). The dynamic performance was analyzed to verify the effectiveness of the model. Finally, by integrating MATLAB and ADAMS, a PD collaborative control simulation was established to achieve the 3-DOF PMSM decoupling tracking. The result shows that this collaborative simulation platform can avoid heavy works of mathematical modelling and offers a reliable approach for the future experiment about PMSM.
Keywords: dynamic modeling, collaborative control, permanent magnet spherical motor (PMSM), automatic dynamic analysis of mechanical systems (ADAMS), MATLAB