Abstract
This paper deals with the operating modes of a 3-degree-of-freedom (3-DOF) electric machine. The design of such a machine allows the rotor axis to rotate along two angular coordinates in a limited range of angles. This is necessary for the machine to operate as part of a small-sized, high-speed precision target detection and tracking system. Based on the 3-DOF machine dynamics model, a block diagram of a servo system has been developed for controlling the rotor motion trajectory at two coordinates. Examples are given of the implementation of rotor motion trajectories with linearly increasing Examples are given of the implementation of rotor motion trajectories with linearly increasing, as well as described by an Archimedes spiral reference signals described by an Archimedes spiral reference signals. Dependencies of the modules of the relative accuracy of rotor movement along given trajectories on the system tunings were obtained. Ref. 12, fig. 9, table 1.
References
Wenqiang Tao, Guoli Li, Lufeng Ju, Rui Zhou, Cungang Hu Design and Analysis of a Novel Spherical Motor Based on the Principle of Reluctance. 2018 IEEE International Power Electronics and Application Conference and Exposition. 2018. Pp. 7–13. DOI: https://doi.org/10.1109/PEAC.2018.8590483
Lee H.J., Park H.J., Ryu G.H., Oh S.Y., Lee J. Performance Improvement of Operating Three-Degree-of-Freedom Spherical Permanent-Magnet Motor. IEEE Transactions on magnetics. 2012. Vol. 48. No. 11. Pp. 4654–4657. DOI: https://doi.org/10.1109/TMAG.2012.2200470
Yan Wen, Guoli Li, Qunjing Wang, Xiwen Guo, Wenping Cao Modeling and Analysis of Permanent Magnet Spherical Motors by a Multitask Gaussian Process Method and Finite Element Method for Output Torque. IEEE Transactions on Industrial Electronics. 2021. Vol. 68. Issue 9. Pp. 8540–8549. DOI: https://doi.org/10.1109/TIE.2020.3018078
Antonov A.E. Electrical machines of magnetoelectric type. Kiev: NAS of Ukraine, Institute of Electrodynamics, 2011. 216 p. (Rus)
Milyakh A.N., Barabanov V.A., Dvoinykh V.V. Three-degree-of-freedom electric machines. Kyiv: Naukova Dumka, 1979. 308 p. (Rus)
Milyakh A.N., Barabanov V.A., Lavrinenko V.A., Kireev V.G. Equations of three-degree-of-freedom electric machines with permanent magnets. Tekhnichna elektrodynamika. 1981. No. 2. P. 65–70. (Rus)
Akinin K.P., Kireev V.G., Petukhov I.S, Filomenko A.A. Mathematical modeling of an electric machine with a three-degree-of-freedom gyro-stabilized rotor. Tekhnichna elektrodynamika. 2022. No 5. Pp. 38–44. (Ukr) DOI: https://doi.org/10.15407/techned2022.05.038
Petukhov I.S. Electromagnetic torques of control of the precession rotor of a three-degree-of-freedom electric machine. Tekhnichna elektrodynamika. 2023. No 4. Pp. 52–61. (Ukr) DOI: https://doi.org/10.15407/techned2023.04.052
Carrier G.F., Miles J.W. About the ring damper of a free precessing gyroscope. Applied mechanics. Series E. 1963. No 2. (Rus)
Siff E.J., Emmerich K.L. Introduction to gyroscopy. M.: Mechanical Engineering, 1965. 124 p. (Rus)
Wen Y., Li G., Wang Q., Guo X., Cao W. Modeling and Analysis of Permanent Magnet Spherical Motors by a Multitask Gaussian Process Method and Finite Element Method for Output Torque. IEEE Transactions on In-dustrial Electronics. 2021. Vol. 68. Issue 9. Pp. 8540–8549. DOI: https://doi.org/10.1109/TIE.2020.3018078
Víteček A., Vítečková M., Landryová L. Basic principles of automatic control. Ostrava. 2012. 118 p.
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
Copyright (c) 2023 K.P. Akinin, V.G. Kireyev, І.S. Petukhov, A.A. Filomenko