球形电动机及其研究发展综述OACSTPCD
An Overview on Developments and Research of Spherical Motors
球形电动机是一种具有球体结构的新型电动机,可单机实现在三维空间内的多自由度运动,且适合应用于人工智能及姿态控制系统动量球等相关领域,得到了各国学者的广泛关注与研究.球形电动机拓展了转子运动范围,是电动机行业未来的一个重要发展方向.与传统单自由度电动机相比,球形电动机结构较为复杂,且运动模式较为特殊,因此,对球形电动机的分析研究有别于传统单自由度电动机.该文整理各国学者对球形电动机的研究工作,总结归纳球形电动机的概念及发展历程,对比研究球形电动机不同的工作原理、拓扑结构及设计优化方法,探讨球形电动机的性能、转子位置检测方法、控制方法、转子支撑方式、应用场合及关键技术,最后总结球形电动机的未来发展趋势.
Spherical motors are defined by the spherical structures.They have developed rapidly and got more and more research interest in recent years due to the capacity of multi-degree-of-freedom(DOF)motion in 3-D space and the feasibility in artificial intelligence,reaction sphere and etc.Spherical motors expand the rotor motion range,representing an important development direction of the motor industry in the future.Compared with the traditional single-DOF motor,the spherical motor has more complex structure and special motion mode,so the analysis and research of the spherical motor is different from that of the traditional single-DOF motor.In this paper,an overview of spherical motors is presented,with an emphasis on concept,development,mechanisms,topologies,design and optimization methods,and properties.The rotor position detection methods,control methods,rotor support methods and applications of spherical motors are also summarized.The key techniques and prospects of spherical motors are discussed and summarized.
赵静;何威;刘向东;李伟力;李争;杨磊
北京理工大学自动化学院,北京市 海淀区 100081北京交通大学电气工程学院,北京市 海淀区 100044河北科技大学电气工程学院,河北省 石家庄市 050018北京控制工程研究所,北京市 海淀区 100190
动力与电气工程
球形电动机多自由度运动拓扑结构设计优化方法控制技术
spherical motormulti-DOF motiontopologydesign and optimization methodcontrol technology
《中国电机工程学报》 2024 (002)
737-754,中插26 / 19
国家自然科学基金项目(51977011);精密转动和传动机构长寿命技术北京市重点实验室开放基金课题资助(BZ0388202001). Project Supported by National Natural Science Foundation of China(51977011);Funded by Beijing Key Laboratory of Long-life Technology of Precise Rotation and Transmission Mechanisms(BZ0388202001).
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