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《Proceedings of the Csee》 2005-09
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THE CONTROL OFA PERMANENT MAGNET SPHERICAL STEPPER MOTOR BASED ON WEIGHTED GRAPH

WANG Qun-jing,CHEN Li-xia,WU Li-jian,NI You-yuan (Hefei Univesity of Technology,Hefei 230009,Anhui Province,China)  
The paper presents the control method of a type of permanent magnet spherical stepper motor being capable of three-degree-of-freedom motion. The structural characteristics and the motion of the spherical stepper are analyzed, and then a weighted graph which consists of all possible stable positions of the spherical stepper is given according to the arrangement and combination of permanent magnets and windings. The commuting strategy can be attained and therefore the spherical motor can be controlled to achieve the expected trajectory according to the algorithm of the weighted graph.
【Fund】: 国家自然科学基金项目(50377010);; 安徽省自然科学基金项目(03044103)~~
【CateGory Index】: TM383.6
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