Title:
METHOD FOR CONTROLLING SPHERICAL MOTOR
Document Type and Number:
WIPO Patent Application WO/2013/122111
Kind Code:
A1
Abstract:
A method for controlling a spherical motor (10) involves the following: creating beforehand and storing a torque map in which the positions of coils (18) of a stator (14) that are in a coordinate system of a rotor (12) are associated as a parameter to a torque vector acting on the rotor (12) or on the stator (14) when a unitary current is supplied to each of the coils (18); from a torque vector to be made to act on the rotor (12) in order to drive the rotor (12) from a posture of the rotor (12) measured in a coordinate system of the stator (14) to a target posture, establishing an electrical current value to be supplied to the coils (18) of the stator (14) on the basis of the posture of the measured rotor (12) and the previously created torque map; and supplying the established electrical current value to each of the coils (18) of the stator (14).
Inventors:
KASASHIMA NAGAYOSHI (JP)
YANO TOMOAKI (JP)
ASHIDA KIWAMU (JP)
YANO TOMOAKI (JP)
ASHIDA KIWAMU (JP)
Application Number:
PCT/JP2013/053427
Publication Date:
August 22, 2013
Filing Date:
February 13, 2013
Export Citation:
Assignee:
NAT INST OF ADVANCED IND SCIEN (JP)
International Classes:
H02P29/00; H02K41/03
Foreign References:
| JPS60204252A | 1985-10-15 | |||
| JP2009077463A | 2009-04-09 |
Other References:
KLEMENS KAHLEN ET AL.: "Control of multi- dimensional drives with variable pole pitch", INDUSTRY APPLICATIONS CONFERENCE, 2002. 37TH IAS ANNUAL MEETING. CONFERENCE RECORD OF THE, vol. 4, 13 October 2002 (2002-10-13), pages 2366 - 2370
K. KAHLEN ET AL.: "Torque control of a spherical machine with variable pole pitch", POWER ELECTRONICS SPECIALISTS CONFERENCE, 2002. PESC 02. 2002 IEEE 33RD ANNUAL, vol. 1, 2002, pages 1 - 5, XP010596056
KOK-MENG LEE ET AL.: "Concept Development and Design of a Spherical Wheel Motor (SWM), Robotics and Automation, 2005. ICRA 2005.", PROCEEDINGS OF THE 2005 IEEE INTERNATIONAL CONFERENCE ON, 18 April 2005 (2005-04-18), pages 3652 - 3657
K. KAHLEN ET AL.: "Torque control of a spherical machine with variable pole pitch", POWER ELECTRONICS SPECIALISTS CONFERENCE, 2002. PESC 02. 2002 IEEE 33RD ANNUAL, vol. 1, 2002, pages 1 - 5, XP010596056
KOK-MENG LEE ET AL.: "Concept Development and Design of a Spherical Wheel Motor (SWM), Robotics and Automation, 2005. ICRA 2005.", PROCEEDINGS OF THE 2005 IEEE INTERNATIONAL CONFERENCE ON, 18 April 2005 (2005-04-18), pages 3652 - 3657
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Claims: