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永磁球形電機--基于模型以及物理場的設計、傳感和控制(英文版) 版權信息
- ISBN：9787568039024
- 條形碼：9787568039024 ; 978-7-5680-3902-4
- 裝幀：一般銅版紙
- 冊數：暫無
- 重量：暫無
- 所屬分類：>
永磁球形電機--基于模型以及物理場的設計、傳感和控制(英文版) 本書特色
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents modelsfor establishing the relationships among the magnetic fields position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.
永磁球形電機--基于模型以及物理場的設計、傳感和控制(英文版) 內容簡介
Rapid advances of intelligent machines for amsrt manufacturing equipment,driverless vehicles,robotics,and medical industries continue to motivate new designs and app;ocations of multi-degree-of-freedom(DOF) actuators capable of complex motion and precise force/torque manipulations to complete tasks that have never been automated before.Extensive efforts to develop novel actuators with compact designs and designs and dexterous manipulations can be found in both academic research and indusrial development.Unlike multi-DOF systems with designs based on bulky serial/parallel combinations cf single-axis spin motors and transmission mechanisms,spherical motors/actuators are direct-drive and can achieve multi-DOF rotational motions in a single ball joint,because of these attractive features,along with the structural simplicity and the capability to achieve quick singularity-free motion,spherical motors are expected to play a significant role in the developmet of intelligent machines.
永磁球形電機--基于模型以及物理場的設計、傳感和控制(英文版) 目錄
CHAPTER 1 INTRODUCTION/1
1.1Background/1
1.2The State of the Art/3
1.21 Marnetic Modeling and Analysis/6
1.22 Orientation Sensing/8
1.23 Control Methods/10
1.3 Book Outline/12
PART I MODELLING METHODS FOR PMSMS/21
CHAPTER 2 General Formulation OF PMSMs/21
2.1 PMSM Electromagnetic System Modeling/21
2.1.1 Governing Equations of
Electromagnetic Field/21
2.1.2 Boundary Condition/24
2.1.3 Magnetic Flux Linkage and Energy/25
2.1.4 Magnetic Force/Torque/26
2.2 PMSM Rotor Dynamic /27
References/30
CHAPTER 3 Distributed Multi-Pole Models/31
3.1 Distributed Multi-Pole Model for PMs/31
3.1.1 PM Field with DMP Model/32
3.1.2 Numerical Illustrative Examples/35
3.2 Distributed Multi-Pole Model for EMs/43
3.2.1 Equivalent Magnetization of the
ePM/45
3.2.2 Illustrations of Magnetic Field
Computation/47
3.3 Dipole Force/Torque Model/47
3.3.1 Force and Torque on a Magnetic
Dipole/47
3.3.2 Illustration of Magnetic Force
Computation/49
3.4 Image Method with DMP Models/52
3.4.1 Image Method with Spherical Grounded
Boundary/53
3.4.2 Illustrative Examples/56
3.4.3 Effects of Iron Boundary on the
Torque/58
3.5 Illustrative Numerical Simulations for
PMSM Design/62
3.5.1 Pole Pair Design/65
3.5.2 Static Loading Investigation/70
3.5.3 Weight-Compensating Regulator/71
References/79
CHAPTER 4 PMSM Force/Torque Model for
Real-Time Control/81
4.1 Force/Torque Formulation/81
4.1.1 Magnetic Force/Torque Based on The
Kernel Functions/82
4.1.2 Simplified Model: Axis-Symmetric
EMs/PMs/85
4.1.3 Inverse Torque Model/86
4.2 Numerical Illustrations/86
4.2.1 Axis-Asymmetric EM/PMs/86
4.2.2 Axis-Symmetric EM/PM/90
4.3 Illustrative PMSM Torque Modelling /93
PART II SENSING Methods
CHAPTER 5 Field-Based Orientation
Sensing/99
5.1 Coordinate Systems and Sensor
Placement/99
5.2 Field Mapping and Segmentation/100
5.3 Artificial Neural Network Inverse
Map/102
5.4 Experimental Investigation/103
5.4.1 2-DOF Concurrent Characterization/104
References/107
CHAPTER 6 A Back-EMF Method for Multi-DOF
Motion Detection/109
6.1 Back-EMF for Multi-DOF Motion
Sensing/109
6.1.1 EMF Model in a Single EM-PM pair/111
6.1.2 Back-EMF with Multiple EM-PM
pairs/112
6.2 Implementation of Back-EMF Method on a
PMSM/114
6.2.1 Mechanical and Magnetic Structure of
the PMSM/115
6.2.2 Numerical Solutions for the MFL
Model/116
6.2.3 Experiment and Discussion/118
6.2.4 Parameter Estimation of the PMSM with
back-EMF Method/120
References/122
PART III CONTROL METHODS
CHAPTER 7 Direct Field-Feedback
Ccontrol/125
7.1 Traditional Orientation Control Method
for Spherical Motors/125
7.1.1 PD Control Law and Stability
Analysis/126
7.1.2 Comments on Implementation of
Traditional Control Methods/127
7.2 Direct Field-Feedback Control/128
7.2.1 Determination of Bijective Domain/129
7.2.2 DFC Control Law and Control Parameter
Determination/129
7.2.3 DFC with Multi-sensors/130
7.3 Numerical 1-DOF Illustrative
Example/131
7.3.1 Sensor Design and Bijective Domain
Identification/131
7.3.2 Field-based Control Law/133
7.3.3 Numerical Illustrations of Multiple
Bijective Domains/135
7.4 Experimental Investigation of DFC for
3-DOF PMSM/135
7.4.1 System Description/135
7.4.2 Sensor Design and Bijective
Domains/138
7.4.3 Bijective domain/139
7.4.4 TCV Computation Using Artificial
Neural Network (ANN)/142
7.4.5 Experimental Investigation/142
References/150
CHAPTER 8 A Two-mode PMSM for Haptic
Applications/151
8.1 Description of the PMSM Haptic
Device/151
8.1.1 Two-mode configuration Design for
6-DOF Manipulation/153
8.1.2 Numerical Model for Magnetic
Field/Torque Computation/154
8.1.3 Field-based TCV Estimation/155
8.2 Snap-Fit Simulation/156
8.2.1 Snap-Fit Performance Analyses/158
8.2.2 Snap-Fit Haptic Application/159
References/164
展開全部
永磁球形電機--基于模型以及物理場的設計、傳感和控制(英文版) 作者簡介
白坤，男，博士，華中科技大學副教授。本科畢業于浙江大學控制科學與工程系；2012年于美國佐治亞理工學院(Georgia Institute ofTechnology)機械系取得博士學位；目前在數字制造裝備與技術國家重點實驗室進行科研工作。?? ? 主要從事機電系統、控制系統、驅動器和傳感的研究，相關成果發表SCI、EI收錄文章20余次，目前主持國家自然科學基金項目2項，作為主要成員參加國家重點基礎研究發展計劃（973）項目1項。擔任IEEE和ASME多個期刊和會議的審稿人，也多次在國際會議做報告并受邀擔任分會主席。?? 李國民，美國麻省理工學院博士，美國總統獎獲得者，IEEE Fellow、ASME Fellow、IEEE/ASME Transactions on Mechatronics（TMech）主編 (2008-2013)。美國佐治亞理工學院任終身教授、華中科技大學教授，973項目首席科學家。主要研究領域為智能制造裝備與技術、智能傳感及驅動、復雜機電系統。主持與智能制造密切相關的美國自然科學基金、國際合作項目十余項。在智能傳感器、靈巧驅動器、機器視覺、多變量熱-流耦合過程建模與控制等領域取得系列成果，并廣泛應用于制造工業中的檢測、定位與控制、場重構、分布參數建模與控制等方面。發表相關論文250余篇，參與出版英文專著3部，授權美國與國際專利10項。于2008創立TMech Best Paper Award，同年作為IEEE/ASME AIM國際會議的共同成立者，受ASME/DSCD-Mechatronics TC（機電一體化委員會）支持，創立 (Best Paper and Best Student Paper Awards in Mechatronics) 兩個獎項。
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