Open AccessFriction torque field distribution of a permanent‐magnet spherical motor based on multi‐physical field coupling analysis
Author(s) -
Li Haolin,
Li Guoli,
Wang Qunjing,
Ju Bin,
Wen Yan
Publication year - 2021
Publication title -
iet electric power applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.815
H-Index - 97
eISSN - 1751-8679
pISSN - 1751-8660
DOI - 10.1049/elp2.12096
Subject(s) - control theory (sociology) , torque , friction torque , rotor (electric) , coupling (piping) , trajectory , magnet , mechanics , physics , engineering , computer science , mechanical engineering , control (management) , astronomy , artificial intelligence , thermodynamics
Non‐linear friction between the rotor and the rotor support mandrels would occur during the movement of the permanent‐magnet spherical motor (PMSpM). The friction which varies with the position causes PMSpM jitter or even stop it when running at low speeds, and the system operation accuracy is reduced. To solve these problems, this work proposes a parameter identification method of the Coulomb friction model. First, a dynamics model with the Coulomb friction of PMSpM is established by using generalised Euler angles and the Lagrangian energy method. Then, a parameter identification method of the Coulomb friction model based on COMSOL Multi physics coupled simulation and MEMS experiment is proposed to obtain the friction torque data of the PMSpM. Finally, the friction torque compensation in a closed‐loop control experiment is completed by using the friction data. The results show that the accuracy of trajectory tracking control is significant, and the error is reduced by 49.32%. Hence, the distribution of the friction torque field is accurate and effective.