Dynamic simulation of a permanent magnet spherical motor based on cyclical trajectory planning

摘要

A cyclical trajectory planning method for a permanent magnet spherical motor (PMSM) with multiple degrees of freedom in three-dimensional space is proposed. First of all, its mechanical structure is introduced and dynamic model of the rotor is established. Then, a dynamic simulation involving load or not is carried out. The cyclical movement of the PMSM in no-load regime is supposed to be expressed by a Fourier series. The simulation results show the simplicity, effectiveness and concreteness of the proposed method, which lay a solid foundation for the future work on the dynamic control of the PMSM.