永磁球形电机 基于模型以及物理场的设计、传感和控制 白坤,李国民 著 专业科技 文轩网

CHAPTER 1 INTRODUCTION/1
1.1Background/1
1.2The State of the Art/3
1.21 Marnetic Modeling and Analysis/6
1.22 Orientation Sensing/8
1.23 Control Methods/10
1.3 Book Outline/12
PART I MODELLING METHODS FOR PMSMS/21
CHAPTER 2 General Formulation OF PMSMs/21
2.1 PMSM Electromagnetic System Modeling/21
2.1.1 Governing Equations of Electromagnetic Field/21
2.1.2 Boundary Condition/24
2.1.3 Magnetic Flux Linkage and Energy/25
2.1.4 Magnetic Force/Torque/26
2.2 PMSM Rotor Dynamic /27
References/30
CHAPTER 3 Distributed Multi-Pole Models/31
3.1 Distributed Multi-Pole Model for PMs/31
3.1.1 PM Field with DMP Model/32
3.1.2 Numerical Illustrative Examples/35
3.2 Distributed Multi-Pole Model for EMs/43
3.2.1 Equivalent Magnetization of the ePM/45
3.2.2 Illustrations of Magnetic Field Computation/47
3.3 Dipole Force/Torque Model/47
3.3.1 Force and Torque on a Magnetic Dipole/47
3.3.2 Illustration of Magnetic Force Computation/49
3.4 Image Method with DMP Models/52
3.4.1 Image Method with Spherical Grounded Boundary/53
3.4.2 Illustrative Examples/56
3.4.3 Effects of Iron Boundary on the Torque/58
3.5 Illustrative Numerical Simulations for PMSM Design/62
3.5.1 Pole Pair Design/65
3.5.2 Static Loading Investigation/70
3.5.3 Weight-Compensating Regulator/71
References/79
CHAPTER 4 PMSM Force/Torque Model for Real-Time Control/81
4.1 Force/Torque Formulation/81
4.1.1 Magnetic Force/Torque Based on The Kernel Functions/82
4.1.2 Simplified Model: Axis-Symmetric EMs/PMs/85
4.1.3 Inverse Torque Model/86
4.2 Numerical Illustrations/86
4.2.1 Axis-Asymmetric EM/PMs/86
4.2.2 Axis-Symmetric EM/PM/90
4.3 Illustrative PMSM Torque Modelling /93
PART II SENSING Methods
CHAPTER 5 Field-Based Orientation Sensing/99
5.1 Coordinate Systems and Sensor Placement/99
5.2 Field Mapping and Segmentation/100
5.3 Artificial Neural Network Inverse Map/102
5.4 Experimental Investigation/103
5.4.1 2-DOF Concurrent Characterization/104
References/107
CHAPTER 6 A Back-EMF Method for Multi-DOF Motion Detection/109
6.1 Back-EMF for Multi-DOF Motion Sensing/109
6.1.1 EMF Model in a Single EM-PM pair/111
6.1.2 Back-EMF with Multiple EM-PM pairs/112
6.2 Implementation of Back-EMF Method on a PMSM/114
6.2.1 Mechanical and Magnetic Structure of the PMSM/115
6.2.2 Numerical Solutions for the MFL Model/116
6.2.3 Experiment and Discussion/118
6.2.4 Parameter Estimation of the PMSM with back-EMF Method/120
References/122
PART III CONTROL METHODS
CHAPTER 7 Direct Field-Feedback Ccontrol/125
7.1 Traditional Orientation Control Method for Spherical Motors/125
7.1.1 PD Control Law and Stability Analysis/126
7.1.2 Comments on Implementation of Traditional Control Methods/127
7.2 Direct Field-Feedback Control/128
7.2.1 Determination of Bijective Domain/129
7.2.2 DFC Control Law and Control Parameter Determination/129
7.2.3 DFC with Multi-sensors/130
7.3 Numerical 1-DOF Illustrative Example/131
7.3.1 Sensor Design and Bijective Domain Identification/131
7.3.2 Field-based Control Law/133
7.3.3 Numerical Illustrations of Multiple Bijective Domains/135
7.4 Experimental Investigation of DFC for 3-DOF PMSM/135
7.4.1 System Description/135
7.4.2 Sensor Design and Bijective Domains/138
7.4.3 Bijective domain/139
7.4.4 TCV Computation Using Artificial Neural Network (ANN)/142
7.4.5 Experimental Investigation/142
References/150
CHAPTER 8 A Two-mode PMSM for Haptic Applications/151
8.1 Description of the PMSM Haptic Device/151
8.1.1 Two-mode configuration Design for 6-DOF Manipulation/153
8.1.2 Numerical Model for Magnetic Field/Torque Computation/154
8.1.3 Field-based TCV Estimation/155
8.2 Snap-Fit Simulation/156
8.2.1 Snap-Fit Performance Analyses/158
8.2.2 Snap-Fit Haptic Application/159
References/164