dc.citation.conferencePlace |
US |
- |
dc.citation.endPage |
979 |
- |
dc.citation.startPage |
973 |
- |
dc.citation.title |
ASME International Mechanical Engineering Congress and Exposition |
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dc.contributor.author |
Son, Hungsun |
- |
dc.contributor.author |
Lee, Kok-Meng |
- |
dc.date.accessioned |
2023-12-20T04:39:14Z |
- |
dc.date.available |
2023-12-20T04:39:14Z |
- |
dc.date.created |
2016-12-16 |
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dc.date.issued |
2007-11 |
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dc.description.abstract |
This paper presents the control system design for a particular form of variable-reluctance spherical motors, referred to here as a spherical wheel motor (SWM). Unlike most of the existing spherical motors where focuses have been on the control of the three-DOF angular displacement, the SWM offers a means to control the orientation of a continuously rotating shaft. Specifically, we demonstrate an effective method to decouple the open-loop (OL) control of the spin rate from that of the inclination, leading to a practical OL system combining a switching (spin-rate) controller and a model-based inclination controller. The OL system presented here provides the fundamental control structure for the SWM. To account for unmodeled external torques, we extend the design to allow feedback with a PD controller and a high-gain observer. The effectiveness of the controllers has been investigated by comparing their performance numerically under the influence of an unknown external torque. |
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dc.identifier.bibliographicCitation |
ASME International Mechanical Engineering Congress and Exposition, pp.973 - 979 |
- |
dc.identifier.doi |
10.1115/IMECE2007-42347 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/40866 |
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dc.identifier.url |
http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1600272&resultClick=3 |
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dc.identifier.wosid |
000254515900113 |
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dc.language |
영어 |
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dc.publisher |
AMER SOC MECHANICAL ENGINEERS |
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dc.title |
Design of controllers for a multi-degree-of-freedom spherical wheel motor |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2007-11-11 |
- |