Research of spherical direct drive actuators control systems

摘要

The design and researches of spherical direct drive actuators control systems focused on execution of precise and fast movements in structure of mobile robots information systems are described. The mathematical models of electrical and magnetic fields in these drives are derived, and variants of the control algorithms are considered. Effective control algorithms, based on the analysis and use of the mathematical models of all factors rendering influence to the control procedure are offered. Results of experiments on the working samples of spherical direct drives actuators are described, the recommendations for their further perfection, development and possible applications, are given.