《永磁球形電機--基於模型以及物理場的設計、感測和控制》是2019年華中科技大學出版社出版的圖書，作者是白坤、李國民。
基本介紹
- 中文名：永磁球形電機--基於模型以及物理場的設計、感測和控制
- 作者：白坤、李國民
- 出版社：華中科技大學出版社
- ISBN：9787568039024
內容簡介,圖書目錄,作者簡介,
內容簡介
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 motors’force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’hybrid 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.
圖書目錄
CHAPTER 1 INTRODUCTION/1
1.1Background/1
1.2The State of the Art/3
1.21 Marnetic Modeling and Analysis/6
1.22 Orientation Sensing/8
1.23 Control Methods/10
1.3 Book Outline/12
PART I MODELLING METHODS FOR PMSMS/21
CHAPTER 2 General Formulation OF PMSMs/21
2.1 PMSM Electromagnetic System Modeling/21
2.1.1 Governing Equations of Electromagnetic Field/21
2.1.2 Boundary Condition/24
2.1.3 Magnetic Flux Linkage and Energy/25
2.1.4 Magnetic Force/Torque/26
2.2 PMSM Rotor Dynamic /27
References/30
CHAPTER 3 Distributed Multi-Pole Models/31
3.1 Distributed Multi-Pole Model for PMs/31
3.1.1 PM Field with DMP Model/32
3.1.2 Numerical Illustrative Examples/35
3.2 Distributed Multi-Pole Model for EMs/43
3.2.1 Equivalent Magnetization of the ePM/45
3.2.2 Illustrations of Magnetic Field Computation/47
3.3 Dipole Force/Torque Model/47
3.3.1 Force and Torque on a Magnetic Dipole/47
3.3.2 Illustration of Magnetic Force Computation/49
3.4 Image Method with DMP Models/52
3.4.1 Image Method with Spherical Grounded Boundary/53
3.4.2 Illustrative Examples/56
3.4.3 Effects of Iron Boundary on the Torque/58
3.5 Illustrative Numerical Simulations for PMSM Design/62
3.5.1 Pole Pair Design/65
3.5.2 Static Loading Investigation/70
3.5.3 Weight-Compensating Regulator/71
References/79
CHAPTER 4 PMSM Force/Torque Model for Real-Time Control/81
4.1 Force/Torque Formulation/81
4.1.1 Magnetic Force/Torque Based on The Kernel Functions/82
4.1.2 Simplified Model: Axis-Symmetric EMs/PMs/85
4.1.3 Inverse Torque Model/86
4.2 Numerical Illustrations/86
4.2.1 Axis-Asymmetric EM/PMs/86
4.2.2 Axis-Symmetric EM/PM/90
4.3 Illustrative PMSM Torque Modelling /93
PART II SENSING Methods
CHAPTER 5 Field-Based Orientation Sensing/99
5.1 Coordinate Systems and Sensor Placement/99
5.2 Field Mapping and Segmentation/100
5.3 Artificial Neural Network Inverse Map/102
5.4 Experimental Investigation/103
5.4.1 2-DOF Concurrent Characterization/104
References/107
CHAPTER 6 A Back-EMF Method for Multi-DOF Motion Detection/109
6.1 Back-EMF for Multi-DOF Motion Sensing/109
6.1.1 EMF Model in a Single EM-PM pair/111
6.1.2 Back-EMF with Multiple EM-PM pairs/112
6.2 Implementation of Back-EMF Method on a PMSM/114
6.2.1 Mechanical and Magnetic Structure of the PMSM/115
6.2.2 Numerical Solutions for the MFL Model/116
6.2.3 Experiment and Discussion/118
6.2.4 Parameter Estimation of the PMSM with back-EMF Method/120
References/122
PART III CONTROL METHODS
CHAPTER 7 Direct Field-Feedback Ccontrol/125
7.1 Traditional Orientation Control Method for Spherical Motors/125
7.1.1 PD Control Law and Stability Analysis/126
7.1.2 Comments on Implementation of Traditional Control Methods/127
7.2 Direct Field-Feedback Control/128
7.2.1 Determination of Bijective Domain/129
7.2.2 DFC Control Law and Control Parameter Determination/129
7.2.3 DFC with Multi-sensors/130
7.3 Numerical 1-DOF Illustrative Example/131
7.3.1 Sensor Design and Bijective Domain Identification/131
7.3.2 Field-based Control Law/133
7.3.3 Numerical Illustrations of Multiple Bijective Domains/135
7.4 Experimental Investigation of DFC for 3-DOF PMSM/135
7.4.1 System Description/135
7.4.2 Sensor Design and Bijective Domains/138
7.4.3 Bijective domain/139
7.4.4 TCV Computation Using Artificial Neural Network (ANN)/142
7.4.5 Experimental Investigation/142
References/150
CHAPTER 8 A Two-mode PMSM for Haptic Applications/151
8.1 Description of the PMSM Haptic Device/151
8.1.1 Two-mode configuration Design for 6-DOF Manipulation/153
8.1.2 Numerical Model for Magnetic Field/Torque Computation/154
8.1.3 Field-based TCV Estimation/155
8.2 Snap-Fit Simulation/156
8.2.1 Snap-Fit Performance Analyses/158
8.2.2 Snap-Fit Haptic Application/159
References/164
作者簡介
白坤，男，博士，華中科技大學副教授。本科畢業於浙江大學控制科學與工程系；2012年於美國喬治亞理工學院(Georgia Institute ofTechnology)機械系取得博士學位；目前在數字製造裝備與技術國家重點實驗室進行科研工作。 主要從事機電系統、控制系統、驅動器和感測的研究，相關成果發表SCI、EI收錄文章20餘次，目前主持國家自然科學基金項目2項，作為主要成員參加國家重點基礎研究發展計畫（973）項目1項。擔任IEEE和ASME多個期刊和會議的審稿人，也多次在國際會議做報告並受邀擔任分會主席。
李國民，美國麻省理工學院博士，美國總統獎獲得者，IEEE Fellow、ASME Fellow、IEEE/ASME Transactions on Mechatronics（TMech）主編 (2008-2013)。美國喬治亞理工學院任終身教授、華中科技大學教授，973項目首席科學家。主要研究領域為智慧型製造裝備與技術、智慧型感測及驅動、複雜機電系統。主持與智慧型製造密切相關的美國自然科學基金、國際合作項目十餘項。在智慧型感測器、靈巧驅動器、機器視覺、多變數熱-流耦合過程建模與控制等領域取得系列成果，並廣泛套用於製造工業中的檢測、定位與控制、場重構、分布參數建模與控制等方面。發表相關論文250餘篇，參與出版英文專著3部，授權美國與國際專利10項。於2008創立TMech Best Paper Award，同年作為IEEE/ASME AIM國際會議的共同成立者，受ASME/DSCD-Mechatronics TC（機電一體化委員會）支持，創立 (Best Paper and Best Student Paper Awards in Mechatronics) 兩個獎項。
