트랙션용 다자유도 구형 전동기의 동작 안정성 향상을 위한 제어 기법 연구

Abstract

This paper conducted a study on the selection of control techniques and sensors to improve the driving stability of multi-degreeof-freedom spherical motors. The spherical motor is based on the induction motor operating method and has the characteristic of being capable of driving and steering at the same time. However, due to the structural characteristics of the spherical motor, vibration is severe during driving, and it is difficult to attach a sensor for estimating the rotor angle during rotating and steering. Therefore, through the experiment, a structure formed of steel was installed in the axial direction during driving, and A technique of generating and controlling magnetic poles was applied. During steering, a sensor considering the structure of a multi-degree-offreedom spherical motor was selected to estimate the rotor angle. Finally, a technique for obtaining rotor angle information was studied, and its applicability was reviewed.