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Neural network adaptive control algorithm for permanent magnet spherical motor
Author(s): 
Pages: 25-30
Year: Issue:  1
Journal: Journal of Beijing University of Aeronautics and Astronautics

Keyword:  spherical motordynamical modelingneural network adaptive control;
Abstract: A control method for a 3-DOF spherical motor was introduced. The 3-DOF spherical motor had three-dimensional orientation measurement ability. Considering the mechanical structure of the spherical motor,XYZ Euler angle was used for the construction of the kinematics model. The dynamic model was established by the Lagrange’s equation. Because of the dynamic modeling error,friction and external disturbances,the approximation neural network system model was applied to the spherical motor’s control. The simulation results show that comparing to the traditional method,the proposed method can significantly improve the motion performance. The results can serve as a basis for the future precision motion control research and experiment.
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