Dynamic Modeling And Control Of The Permanent Magnet Spherical Motor Based On ADAMS

With the development of industry technology, the spherical motor which can achieve three degrees of freedom motion has attracted many scholars attention. Compared with the single degree of freedom motor, spherical motors not only simplify the system structure and reduce the system volume, but also improve the positioning accuracy and the dynamic and static performance of the system.In this paper, the dynamic model and control system of a novel permanent magnet spherical motor (PMSM) is analyzed and studied. Different from the multi-rigid body modeling method, the way to build the dynamic model of the PMSM rotor based on ADAMS is used. And the co-simulation dynamic control is realized.The main contribution of the dissertation can be summarized as follows.(1) At first, the basic structure of the PMSM is briefly introduced. Then, the dynamic model is established through the coordinate rotation transform and the second Lagrange equation.(2) Different from the complex mathematical modeling, the dynamic model is established in ADAMS. Firstly, the3-D model is established through the Solidworks. Then, the model is imported into ADAMS. And several important properties must be added, such as material properties and constraint. So far, the dynamic model of the PMSM is established. The dynamic simulation and Post-processing module in ADAMS offers the foundation for the co-simulation.(3) Based on the co-simulation platform, the dynamic control is realized. Firstly, the controlled object is provided by ADAMS and the control system is provided by MATLAB, so that the co-simulation platform is realized. Then, the PD control system and fuzzy control system which can realize the PMSM dynamic control is established respectively. Based on the results of the above control system, the trajectory tracking of the fuzzy control system is better than PD control system.In this paper, a new way to build the dynamic model and co-simulation platform based on ADAMS software is studied, which can offer the foundation for the PMSM control system research.The work is supported by the National Natural Science Foundation of China (51100771,51307001), the National Science Research Key Program of Anhui Provincial Education Department (KJ2013A012) and Anhui Provincial Science Foundation (1308085QE82).