介绍了一种永磁球形步进电机的闭环控制方法,采用四元数组作为三维转动群群元的主要描述格式,从初始方位角开始的所有步进集合形成空间中的有向路径图,顶点为当前方位角下的矩阵余弦,该路径旋转的四元数组为权值,从而形成球形电机三维转动的加权路径图.对于点到点指定方位角的路径寻优,A*算法可以跳出局部极值,且不需要遍历路径图中的所有顶点,因此节省了运动控制的时间.旋转控制中偶有的串扰将偏离原有的路径图,通过方位角检测系统重新定位,计算出新的路径并添加到原有的路径图中.%A method of the closed loop control of the permanent magnetic (PM) spherical stepper motor was introduced. The quaternion was used to describe the element in 3D rotation group. All step rotations starting from the initial orientation formed the path graph,in which the nodes are cosine matrix in the current orientation,and the rotating quaternion in the path was used as the weight, thus the 3 D rotation weighted graph of the PM spherical stepper motor was formed. For the route optimization from point to point of the appointed orientation, A * algorithms can jump the local minimums and needn't experience all over the nodes in the path graph, so the time of controlling the sphere rotation can be saved. When crosstalk in the rotation bring about the sphere disorder in the path graph, the orientation detection system can work over again, calculate the new path and add it into the intrinsic path graph.
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