Control system design for spherical direct drive actuators with the Hall sensors

摘要

We designed a control system for a spherical direct drive actuator with Hall sensors. This device is intended for rapid and precise mobile robot information system sensors movement. The physical fundamentals of the spherical direct drive actuator with Hall sensors are described. We offer effective control algorithms based on analysis and the constructions of mathematical models of all factors rendering influence to the control procedure. The realization and experiments with this system on the acting samples of drives in the structure of the mobile robot information system are described.