Multi-channel current control system for three degree of freedoms permanent magnet spherical actuator

摘要

In order to control the three degree of freedoms permanent magnet spherical actuator, a multi-channel, high-power, high accuracy current control system is designed in this paper. This current control system is mainly consisting of host computer, slave computer, current outputting and sampling device. Firstly, the structure and the fundamental working principle of the spherical actuator are introduced. Then the current control system is discussed in detail, especially the current outputting and sampling device. Finally, this paper analyzes the current control algorithm. The experiments and results show that the designed current control system can supply multi-channel, bipolar, high-power and high accuracy current for the spherical actuator, which satisfies the control requirements of the spherical actuator. In addition, this current control system can also be used to other applications which need multi-channel, high-power current.