E-035

Control system design for spherical direct drive actuators with Hall sensors

Authors: S.M. Sokolov, O.V. Trifonov, V.S. Yaroshevsky
Affiliation: Keldysh Institute of Applied Mathematics, Russian Academy of Sciences

Abstract
Assimilation of the technologies of constant magnets' production allowed to actuate research on direct drive motors developed on their basis. In particular, spherical direct drive actuator with the Hall sensors in a circuit of feedback having the following main performances received distribution:

- Working area up to 90 solid angle degrees;
- Average angular velocity 500 degree per sec;
- Acceleration 10000 degrees per square sec;
- Constant mechanical moment 0.018 Nm/Amp
- Feed 12 v;
- The price about 100 - 200 USD.

Such features make attractive their use as two coordinate drives for information systems sensors transition. But, the similar drives construction simplicity has also disadvantages - in a control system it is necessary to take into account nonlinear effects happening during working head transitions. In the work is also given description of all the electromagnetic processes happening in the spherical direct drive actuator. Because of these processes analysis and appropriate mathematical models construction the effective spherical direct drive actuator control algorithms are generated. The results of investigations with similar drives experimental samples and circumscribed control system in mobile robot information system structure are listed. Thus is shown, that remaining within the framework of inexpensive and reliable hardware support it is possible to develop useful devices for robotic complexes information systems.   

S.M. Sokolov
Keldysh Institute of Applied Mathematics
Russian Academy of Sciences
125047, Miusskaya sq., 4,  Moscow, Russia
FAX: +7 (095) 972-07-37
sokolsm@spp.keldysh.ru