《永磁球形电机--基于模型以及物理场的设计、传感和控制（英文版）》白坤,李国民 华中科技大学出版社 2019/3/1

内容简介：

This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents modelsfor establishing the relationships among the magnetic fields position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motorsforce/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motorshybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.

目录：

CHAPTER 1 INTRODUCTION/1

1.1Background/1

1.2The State of the Art/3

1.21 Marnetic Modeling and Analysis/6

1.22 Orientation Sensing/8

1.23 Control Methods/10

1.3 Book Outline/12

PART I MODELLING METHODS FOR PMSMS/21

CHAPTER 2 General Formulation OF PMSMs/21

2.1 PMSM Electromagnetic System Modeling/21

2.1.1 Governing Equations ofElectromagnetic Field/21

2.1.2 Boundary Condition/24

2.1.3 Magnetic Flux Linkage and Energy/25

2.1.4 Magnetic Force/Torque/26

2.2 PMSM Rotor Dynamic /27

References/30

CHAPTER 3 Distributed Multi-Pole Models/31

3.1 Distributed Multi-Pole Model for PMs/31

3.1.1 PM Field with DMP Model/32

3.1.2 Numerical Illustrative Examples/35

3.2 Distributed Multi-Pole Model for EMs/43

3.2.1 Equivalent Magnetization of theePM/45

3.2.2 Illustrations of Magnetic FieldComputation/47

3.3 Dipole Force/Torque Model/47

3.3.1 Force and Torque on a MagneticDipole/47

3.3.2 Illustration of Magnetic ForceComputation/49

3.4 Image Method with DMP Models/52

3.4.1 Image Method with Spherical GroundedBoundary/53

3.4.2 Illustrative Examples/56

3.4.3 Effects of Iron Boundary on theTorque/58

3.5 Illustrative Numerical Simulations forPMSM Design/62

3.5.1 Pole Pair Design/65

3.5.2 Static Loading Investigation/70

3.5.3 Weight-Compensating Regulator/71

References/79

CHAPTER 4 PMSM Force/Torque Model forReal-Time Control/81

4.1 Force/Torque Formulation/81

4.1.1 Magnetic Force/Torque Based on TheKernel Functions/82

4.1.2 Simplified Model: Axis-SymmetricEMs/PMs/85

4.1.3 Inverse Torque Model/86

4.2 Numerical Illustrations/86

4.2.1 Axis-Asymmetric EM/PMs/86

4.2.2 Axis-Symmetric EM/PM/90

4.3 Illustrative PMSM Torque Modelling /93

PART II SENSING Methods

CHAPTER 5 Field-Based OrientationSensing/99

5.1 Coordinate Systems and SensorPlacement/99

5.2 Field Mapping and Segmentation/100

5.3 Artificial Neural Network InverseMap/102

5.4 Experimental Investigation/103

5.4.1 2-DOF Concurrent Characterization/104

References/107

CHAPTER 6 A Back-EMF Method for Multi-DOFMotion Detection/109

6.1 Back-EMF for Multi-DOF MotionSensing/109

6.1.1 EMF Model in a Single EM-PM pair/111

6.1.2 Back-EMF with Multiple EM-PMpairs/112

6.2 Implementation of Back-EMF Method on aPMSM/114

6.2.1 Mechanical and Magnetic Structure ofthe PMSM/115

6.2.2 Numerical Solutions for the MFLModel/116

6.2.3 Experiment and Discussion/118

6.2.4 Parameter Estimation of the PMSM withback-EMF Method/120

References/122

PART III CONTROL METHODS

CHAPTER 7 Direct Field-FeedbackCcontrol/125

7.1 Traditional Orientation Control Methodfor Spherical Motors/125

7.1.1 PD Control Law and StabilityAnalysis/126

7.1.2 Comments on Implementation ofTraditional Control Methods/127

7.2 Direct Field-Feedback Control/128

7.2.1 Determination of Bijective Domain/129

7.2.2 DFC Control Law and Control ParameterDetermination/129

7.2.3 DFC with Multi-sensors/130

7.3 Numerical 1-DOF IllustrativeExample/131

7.3.1 Sensor Design and Bijective DomainIdentification/131

7.3.2 Field-based Control Law/133

7.3.3 Numerical Illustrations of MultipleBijective Domains/135

7.4 Experimental Investigation of DFC for3-DOF PMSM/135

7.4.1 System Description/135

7.4.2 Sensor Design and BijectiveDomains/138

7.4.3 Bijective domain/139

7.4.4 TCV Computation Using ArtificialNeural Network (ANN)/142

7.4.5 Experimental Investigation/142

References/150

CHAPTER 8 A Two-mode PMSM for HapticApplications/151

8.1 Description of the PMSM HapticDevice/151

8.1.1 Two-mode configuration Design for6-DOF Manipulation/153

8.1.2 Numerical Model for MagneticField/Torque Computation/154

8.1.3 Field-based TCV Estimation/155

8.2 Snap-Fit Simulation/156

8.2.1 Snap-Fit Performance Analyses/158

8.2.2 Snap-Fit Haptic Application/159

References/164