The adaptive control of three-degrees-of-freedom spherical motor

摘要

This paper presents the electromagnetic model and the mechanical model of Three-Dcgrces-of-Frecdom Spherical Motor (3DOFSM). The vector control and disturbance torque observer can realize the elcctromagnetic decoupling and mechanical decouplingcontrol of the 3DOFSM. The adaptive scheme is proposed to improve the robustness and the dynamic performance. The correctness of the control scheme are confirmed by simulation results