永磁球形电机--基于模型以及物理场的设计、传感和控制（英文版）_白坤,李国民_9787568039024

This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents modelsfor establishing the relationships among the magnetic fields position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motorsforce/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motorshybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.

Rapid advances of intelligent machines for amsrt manufacturing equipment,driverless vehicles,robotics,and medical industries continue to motivate new designs and app;ocations of multi-degree-of-freedom(DOF) actuators capable of complex motion and precise force/torque manipulations to complete tasks that have never been automated before.Extensive efforts to develop novel actuators with compact designs and designs and dexterous manipulations can be found in both academic research and indusrial development.Unlike multi-DOF systems with designs based on bulky serial/parallel combinations cf single-axis spin motors and transmission mechanisms,spherical motors/actuators are direct-drive and can achieve multi-DOF rotational motions in a single ball joint,because of these attractive features,along with the structural simplicity and the capability to achieve quick singularity-free motion,spherical motors are expected to play a significant role in the developmet of intelligent machines.

In this book,we procide fundamentals for practical designs of spherical motors with the intent to push forward the development of high-performance spherical motos.This book is orgajized into three parts: The first part begins with the methods for modeling the three-dimensonal(3D)electromagnetic fields involved in a spherical motor,and the multi-dimensional foces and torques generated electromechanically between its rotor and stator.The second part presents the sensing techniques for measuring the multi-DOF joint motion in real time.The third part offers methods for controlling the coupled rotational motions of spherical motots.While this book is primmarily intended for students,researchers,and endineers studying/developing spherical motors,those who work in the area of electric machines should find teh modeling.sensing and control methods presented here relevant to the development of various electromagntic motion systems.

This book is an outcome of the research work accomplished by the authors on spherical motors over the years in Georgia Institute of Technology (USA) and Huazhong University of Science and Technology (China). The authors sincerely appreciate the institutional support received from the two organizations. Part of the work on DMP model and orientation sensing has also built on research works by many former students,particularly Dr.Hungsun son and Dr.Shaohui Foong,durng their studies at Georgia Institute of Technology.

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