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Development Of A Permanent Magnet Spherical Motor With 3 Degrees Of Freedom, Eric T. Hanson
Development Of A Permanent Magnet Spherical Motor With 3 Degrees Of Freedom, Eric T. Hanson
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This research is motivated by the need for actuators capable of delivering precise multiple degrees of freedom (DOF) motion with structure and energy efficiency in numerous applications. Permanent magnet spherical motors (PMSMs) are typical examples that can provide continuous and precise 3 dimensional (3D) rotational motion about a ball joint. The result of this research demonstrates a unique PMSM capable of 3D rotational motion control with high accuracy and bandwidth.
A Kalman filter (KF) sensor fusion method is developed to implement full state estimation of 3-DOF angular displacement and velocity in real time for a PMSM by simultaneously measuring the …