三自由度永磁球形电机的电压控制研究

In order to improve the three-DOF permanent magnet spherical motor's movement performance and control efficiency, as well as o to save the cost of the control system. This paper studies a three-DOF permanent magnet spherical motor with three-dimensional position detection and its control method. Establish the magnetic field model, the back-EMF model, and the control mechanism of permanent magnet spherical motor. Based on the basic research, put the spherical motor's voltage balance equation and kinetic equation together to get the control model, and apply the PID control method, to obtain the closed-loop control method. Simulation results show that the control method proposed in this paper can greatly improve the movement performance than the current torque method.