Nonlinear modeling of a reluctance spherical motor based on torque-angle characteristics

Article type: Research Article

Authors: Ju, Lufeng^{a; b; c;} | Tao, Wenqiang^{a; b} | Wang, Qunjing^{a; b; c} | Li, Guoli^{a; b; c} | Zhou, Rui^{a; b; c} | Qiao, Yuanzhong^{a; b}

Affiliations: [a] School of Electrical Engineering and Automation, Anhui University, Hefei, China | [b] National Engineering Laboratory of Energy-Saving Motor and Control Technology, Anhui University, Hefei, China | [c] Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control, Anhui University, Hefei, China

Correspondence: [*] Corresponding author: Lufeng Ju, School of Electrical Engineering and Automation, Anhui University, Hefei, China. Tel: +86 0551 63861845; E-mail: julf@ahu.edu.cn

Abstract: A novel three-degree-of-freedom (3-DOF) spherical motor based on the principle of minimum magnetic reluctance is proposed in this paper. This paper firstly introduces the structure of the reluctance spherical motor and explains the principle of 3-DOF motion of the motor in detail. Then, an analytical model for reversible torque-angle characteristics is established to accurately describe a complex nonlinear system of the spherical motor model by using piecewise function nonlinear fitting method. Finally, the simulation results of torque-angle characteristics based on the nonlinear model are compared with those of the 3D finite element method (FEM), which verifies the feasibility of the nonlinear modeling.

Keywords: Spherical motor, 3-DOF, nonlinear modeling, torque-angle characteristics, FEM

DOI: 10.3233/JAE-190072

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 62, no. 3, pp. 577-593, 2020