Finite Element Analysis of the Inductance and Magnetic Field in the Permanent Magnet Spherical Motor

Year 2020, Volume: 23 Issue: 4, 1387 - 1394, 01.12.2020

Sibel Akkaya Oy Serdal Arslan Osman Gürdal

https://doi.org/10.2339/politeknik.597962

Cited By: 2

Abstract

Today, many applications requiring mass manufacturing are shifting to robotic applications through automation systems. The actuators used in these robotic systems should be designed according to needs. In this study, an air core spherical motor which has rotor and stator winding arrangement is described. The spherical motor’s windings are optimally positioned on the stator made of delrin. Mutual inductance and self-inductance change were examined according to r=4, 20, 40 and 60 mm radius and the change in the number of stator winding for the spherical motor. Changes in inductance were found through curve fitting method with the coefficients of cubic equations. Equivalent circuit with winding inductance model is also given. Torque change according to magnet change was also investigated. Magnetic flux density change of N52 M magnet 3 winding 2-pole model was examined and the effect of the increase in overall size on torque was evaluated.

Keywords

Spherical motor, curve fitting, permanent magnet, torque

References

• 1. Foggia A. and Pei J., “New three degree of freedom electromagnetic actuator”, Conference Record IAS Anual Meeting, New York, 35, (1988)
• 2. Vachtsevanos G., Davey K. and Power R., “Development of a novel intelligent robotic manipulator”, IEEE Control Systems Magazine, 7, 9-15, (1987).
• 3. Davey K., “Vachtsevanos G. And Power R., The analysis of fields and torques in spherical induction motors”, IEEE Transactions on Magnetics, 23:1, 273-282, (1987)
• 4. Kaneko Y., Yamada I. and Itao K., “A spherical DC servo motor with three Degrees of freedom”, ASME Dynamic Systems and Controls Division, 11, 398-402, (1988)
• 5. Wang J., Jewell G.W. and Howe D., “ Analysis of A Spherical Permanent Magnet Actuator”, Journal of applied physics, 81:8, 4266-4268, (1997)
• 6. Wang J., Jewell G.W. ve Howe D., “Modelling of a Novel Spherical Permanent Magnet Actuator”, Proceedings of the ıntemational conference on robotics and automation, Albuquerque, New Mexico, (1997).
• 7. Gürdal O. and Yusuf Ö., “Sabit Mıknatıslı Demir Nüveli Küresel Eyleyicinin Bilgisayar Destekli 3 Boyutlu Statik Manyetik Analizi Ve Uygulaması”, Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi, 20:4, 433-442, (2005)
• 8. Öner Y., “Sabit mıknatıslı küresel motorun bilgisayar destekli üç boyutlu manyetik analizi, tasarımı ve uygulaması”, Doktora tezi, Gazi Üniversitesi Fen Bilimleri Enstitüsü, (2004).
• 9. Kürüm H. Y. and Akın E., “ Sabit Mıknatıslı Senkron Motorun Parametre Tespit”, Fırat Üniversitesi Mühendislik Bilimleri Dergisi, 30:1, 183-191, (2018)
• 10. Akkaya Oy S.,” Robotik sistemler için sabit mıknatıslı küresel motor, sürücü tasarımı ve uygulaması”, Doktora tezi, Gazi Üniversitesi Fen Bilimleri Enstitüsü, (2014)
• 11. Akkaya Oy S. and Gürdal O., “Design and Application of a Two Pole Spherical Permanent Magnet Motor”, TEM Journal, 7:1, 53-58, (2018)
• 12. Zhang L., Yan L., Che, W. And Liu J., “Current optimization of 3-DOF permanent magnet spherical motor”, 6th IEEE Conference on Industrial Electronics and Applications (ICIEA), Beijing, (2011)
• 13. Kim H.Y., Kim Y., Gweon D.G. and Jeong J., “Development of a Novel Spherical Actuator with Two Degrees of Freedom”, Transaction on Magnetics, 20:2, 532-540, (2015)
• 14. Dalcalı A., “Küresel Eyleyicinin Rotor Mıknatıs Malzemesi Ve Stator Sargı Geometrisinin Eyleyici Torkuna Etkisi”, Journal Of Engineering Sciences, 7:1, 145-151, (2019)
• 15. Hollis R. L. and Ralph L., “Magnetically levitated fine motion robot wrist with programmable compliance”, United States Patent, 1989.
• 16. Lee K. M., Vachtsevanos G. and Kwan C-K., “Development of a spherical wrist stepper motor”, Proceedings of the IEEE International Conference on Robotics and Automation, Philadelphia, , 26-29, (1988)
• 17. Lee K. M. and Pei J., “Kinematic analysis of a three degree-of-freedom spherical wrist actuator”, The Fifth International Conference on Advanced Robotics, Italy, (1991).
• 18. Lee K. M., Wang X. and Wang N.H., “Dynamic modeling and control of a ball-joint-like variable-reluctance spherical motor”, Symposium on Mechatronics, ASME Winter Annual Meeting, New Orleans, 71-79, (1993)
• 19. Lee K. M. and Kwan C. E., “Design concept development of a spherical stepper for robotic applications”, IEEE Transactiona on Robotics and Automation, , 1:7, 175-181, (1991)
• 20. Roth R. and Lee K. M, “Design optimisation of a three degrees of freedom variable reluctance spherical wrist motor”, Transcations of the ASME Journal of Engineeringfor Industry, , 117, 378-388, (1995)
• 21. Toyoma S., Sugitani S., Zhang G., Miyatani Y and Nakamura K., “Multi degree of freedom spherical ultrasonic motor”, Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Nagoya, , 2935-2940, (1995).
• 22. Mashimo T., Toyama S. and Ishida H., “Design and implementation of spherical ultrasonic motor”, IEEE Transactions on Ferroelectrics and Frequency Control, 56:11, 2514-2521, (2009)
• 23. Ting Y., Tsai Y. R., Hou B. K., Lin S. C. and Lu C. C., “ Stator design of a new type of spherical piezoelectric motor”, IEEE Transactions on Ferroelectrics and Frequency Control, , 57:10, 2334-2342, (2010)
• 24. Shi Y. C., Sun K., Huang L. P. and Li Y., “Online identification of permanent magnet flux based on extended Kalman filter for IPMSM drive with position sensorless control”, IEEE Trans. Ind. Electron., 59:11, 4169–4178, ( 2012)
• 25. Liu Q. and Hameyer K., “A fast online full parameter estimation of a PMSM with sinusoidal signal injection”, Proc. IEEE Energy Convers. Congr. Expo, 4091–4096, (2015)
• 26. Thierry B., Nicolas L., Babak N. M. and Farid M. T., “Online identification of PMSM parameters: Parameter identifiability and estimator comparative study,” IEEE Trans. Ind. Appl., 47:4, pp. 1944–1957, ( 2011)
• 27. Polat M., Öksüztepe E., Kürüm H., “Switched reluctance motor control without position sensor by using data obtained from finite element method in artificial neural network“, Electrical Engineering , 98:1, 43-54, (2016)
• 28. Öksüztepe E, Omac Z., Polat M., Celik H., Selcuk A.H., Hasan K. , “Sensorless field oriented control of nonsinusoidal flux-distribution permanent magnet synchronous motor with a FEM based ANN observer“, Turkish Journal of Electrical Engineering & Computer Sciences , 24: 4, 2994-3010, (2016)
• 29. Yan L., Chen IM., Lim C.K., Yang G. and Lee KM., “Torque Modeling. In: Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators”, Mechanisms and Machine Science, 4. Springer, Dordrecht, (2011)
• 30. Yan Liang, Chen I.M., Lim C.K., Yang G., Lin W. and Lee K.M., "Design and analysis of a permanent magnet spherical actuator", IEEE/ASME Transactions on mechatronics, 13:2 239-248, (2008)
• 31. Fenercioğlu, A. and Tarımer, İ., “Bir manyetik sistemin Maxwell 3D alan simülatörü ile statik manyetik analizinin çözüm süreçleri”, Journal of Selcuk-Technic, 6:3, 221-240, (2007).
• 32. Wang J., Jewell G.W. and Howe D., “ Analysis, design and control of a novel spherical permanent-magnet actuator”, IEE Proc.-Electr. Power Appl., 145:1,61-71, (1998)
• 33. Tarimer İ., and Dalcali A., “Effects of Permanent Magnets on Torque and Power Density of Spherical Motors”, TEM Technics Technologies Education Management, 10:2, 144-149, (2015).
• 34. https://www.arnoldmagnetics.com/products/neodymium-iron-boron-magnets/, Erişim Tarihi:12.07.2019
• 35. Gürdal, O., “Elektromanyetik Alan Teorisi”, Seçkin Yayıncılık, Ankara, (2007)