Dynamic Modeling and Control Methods of A Novel Electromagnetic-Driven Spherical Motion Generator
文献类型：会议论文
| 作者 | Liu, Lu; Song, Xiao; Liu, Jingmeng; Chen, Weihai; Yang, Guilin |
| 出版日期 | 2020 |
| 会议日期 | NOV 09-13, 2020 |
| 关键词 | DESIGN |
| 英文摘要 | In this paper, we present the prototype of a novel spherical motion generator driven by an electromagnetic force. It is such a mechanism that combines the structure of a spherical parallel manipulator with the actuation of the spherical motor. To accomplish the task of trajectory tracking, we firstly employ the Lagrange-D'Alembert equation to establish the dynamic model. Due to the nonlinearity of the system, we attempt to apply three different control methods to compare their performances. Simulation model is formulated by Matlab/Simulink and the experimental results demonstrate that all control strategies can almost achieve the goal of trajectory tracking. The computed-torque method (CTM) has a better trajectory tracking performance than the others in the presence of friction for that it makes use of the dynamic information and converts a nonlinear system into a linear one via full-state nonlinear feedback. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-7281-5169-4 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23276]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Liu, Lu,Song, Xiao,Liu, Jingmeng,et al. Dynamic Modeling and Control Methods of A Novel Electromagnetic-Driven Spherical Motion Generator[C]. 见:. NOV 09-13, 2020. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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