Virtual Prototype Modeling And Tracking Control Of Permanent Magnet Spherical Motor

With the large scale application of multi-degree-of-freedom industrial equipment like robots and panoramic camera, permanent magnetic spherical motor (PMSM) has attracted wide attention by domestic and foreign experts. Because it has the characteristics of simple mechanical structure, high positioning accuracy, fast response speed, effectively improve the dynamic and static performance of the system, etc.For this kind of motor, the main modeling method and corresponding control analysis and research are based on mathematical method at present. As the PMSM is a strong coupling and nonlinear system, the mathematics modeling method always exists some shortcomings such as complicated process, low efficiency and big error, etc. With the development of computer software in recent years, virtual prototype technique (VPT) began to be widely used in the field of complex systems modeling. The VPT is characterized by high precision, short developing period, strong scalability, etc. So in this paper, the modeling and optimization of PMSM were achieved based on VPT, then the dynamic analysis and tracking control were studied.Specific research works of this paper are as follows:1. Firstly, the-basic structure and material composition of PMSM was briefly introduced. Based on the actual prototype parameters, the rotor of PMSM was modeled by Pro/Engineer software.2. Secondly, the model of rotor was imported to the ADAMS software to generate the virtual prototype model. The virtual prototype model was optimized by adding the gravity and the friction, then the dynamic analysis was simulated in ADAMS.3. Thirdly, in order to realize dynamic control of the virtual prototype model, the co-simulation interface between ADAMS and MATLAB was built. The co-simulation platform was generated by the co-simulation interface and claw type motion. The corresponding dynamic analysis was simulated.4. Finally, in order to solve the tracking control of permanent magnet spherical rotor dynamics system, sliding-mode control (SMC) and dynamic surface control (DSC) were designed based on the co-simulation platform. SMC can achieve good control effect by effectively solving the nonlinear coupling terms of the dynamics model. There are some disadvantages during the SMC, such as too many control parameters and chattering. For the purpose of further improve the performance of tracking system, the DSC was designed, which can achieve better control effect and simplify the design of the controller. The simulation results show that the control methods above are feasible and effective.