@inproceedings{eed8bc4cf4524bb29cc83830e6e0bf90,
title = "Augmented PD control method for permanent magnet spherical actuators with 3D magnet array",
abstract = "A permanent magnet spherical actuator (PMSA) with 3D magnet array is proposed in this paper. The application of 3D magnet array improves the output torque significantly. However, as PMSA is a nonlinear and multivariable system, it is very complicate to realize accuracy control. Therefore, an augmented PD algorithm is proposed in this paper. Compared with the simple PD control method, a feedforward term is added into the proposed algorithm to improve the control performance. Euler angles are applied to describe the orientation of rotor. Lagrange equations are utilized to establish the dynamic model of the actuator. As the center of gravity does not coincide with the center of rotor sphere, gravity torque is taken into consideration to enhance the precision of dynamic model. The stability of this algorithm is validated with detailed derivation. Simulation model is formulated in Matlab/Simulink. It proves that the proposed algorithm can make the system track the continuous trajectories in high accuracy.",
keywords = "3D magnet array, augmented PD control, dynamic Model, permanent magnet spherical actuator, simulation model",
author = "Liang Yan and Bo Zhu and Zongxia Jiao and Chen, \{Chin Yin\} and Ming Chen",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 ; Conference date: 15-06-2015 Through 17-06-2015",
year = "2015",
month = nov,
day = "20",
doi = "10.1109/ICIEA.2015.7334379",
language = "英语",
series = "Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1676--1681",
booktitle = "Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015",
address = "美国",
}