지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2023.9
- 수록면
- 193 - 198 (6page)
- DOI
- 10.5370/KIEEP.2023.72.3.193
이용수
초록· 키워드
오류제보하기
This paper conducted a study on the selection of control techniques and sensors to improve the driving stability of multi-degree-of-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-of-freedom spherical motor was selected to estimate the rotor angle. Finally, a technique for obtaining rotor angle information was studied, and its applicability was reviewed.
목차
Abstract
1. 서론
2. 유도형 스페리컬 전동기 기본 구조
3. 스페리컬 전동기 동작 안정성 향상 기법
4. 실험 결과 분석
5. 결론
References
참고문헌 (9)
참고문헌 신청
Fernandes, J. F. P.; Branco, P. J. C, “The Shell-Like Spherical Induction Motor for Low-Speed Traction: Electromagnetic Design, Analysis, and Experimental Tests,” IEEE Transactions on Industrial Electronics, 63 (7), 4325-4335, 2016.
Bhatia, A.; Kumagai, M.; Hollis, R, “Six-stator spherical induction motor for balancing mobile robots,” IEEE International Conference on Robotics and Automation (ICRA), 226- 231, 2015.
Kumagai, M.; Hollis, R. L, “Development and control of a three DOF spherical induction motor,” IEEE International Conference on Robotics and Automation, 1528-1533, 2013.
Park, J.; Kim, M.; Jang, H. G.; Jung, D. Y.; Park, J. M, “Design and control of a permanent magnet spherical wheel motor,” ETRI Journal, 41 (6), 838-849, 2019.
S. H. Kim, “Electric Motor Control, DC, AC, and BLDC motors,” Elsevier Inc., 2017.
Bhatia, A.; Kumagai, M.; Hollis, R, “Six-stator spherical induction motor for balancing mobile robots,” IEEE International Conference on Robotics and Automation (ICRA), 226- 231, 2015.
Kumagai, M.; Hollis, R. L, “Development and control of a three DOF spherical induction motor,” IEEE International Conference on Robotics and Automation, 1528-1533, 2013.
Park, J.; Kim, M.; Jang, H. G.; Jung, D. Y.; Park, J. M, “Design and control of a permanent magnet spherical wheel motor,” ETRI Journal, 41 (6), 838-849, 2019.
S. H. Kim, “Electric Motor Control, DC, AC, and BLDC motors,” Elsevier Inc., 2017.
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