2020 | vol. 68 | nr. 3 | art. 2

Dynamic Joint Simulation and Control of Hybrid Driven Three-degree-of-freedom Motor

Zheng Li, Lingqi Liu, Leiyong Wang
In order to solve the problem of complex motion coordination deviation and low flexibility of the existing drive unit in multi-rigid body coupling system, a new type of permanent magnet three-degree-of-freedom motor structure design is proposed, which is divided into inner deflection module and peripheral rotation modules. Their operating strategies can be divided into independent control and hybrid drive. By using the effect of strong magnetic and magnetic circuit shielding of Halbach array, the magnetic field characteristics of the motor's self-rotating permanent magnet are optimized and improved. Based on the construction of the joint simulation platform, the controlled object was derived by ADAMS software, and the control system was designed in MATLAB software. Aiming at the nonlinear and strongly coupled dynamic system, sliding mode control was selected as the dynamic control algorithm to study the trajectory tracking of the motor rotor shaft. By combining the dynamic model of the motor, the S function is written to complete the design of the controller. The simulation results show that the joint simulation interface and sliding mode control algorithm can well implement the trajectory tracking of hybrid drive motors.
Keywords: three-degree-of-freedom motor, Halbach array, virtual prototype; dynamic model, sliding mode control
To cite this article: Zheng Li, Lingqi Liu, Leiyong Wang, “Electromagnetic Characteristics Analysis and Dynamics Co-simulation of Permanent Magnet Three-DOF Motor”, in Electrotehnica, Electronica, Automatica (EEA), 2019, vol. 67, no. 3, pp. 13-21, ISSN 1582-5175.