Abstract
A spherical motor is an electromagnetic device with multi-degree-of-freedom motion. Three-dimensional (3-D) magnetic field analysis and torque analysis are needed for the design, optimization and control of the motor. Presently, these analyses are carried out by the finite-element method (FEM) with a large amount of calculation and time consumption. An analytical method (AM) can reduced the computational burden of the FEM without sacrifice of the accuracy. A stepped permanent magnet (PM) can obtain a large range of the magnetic field while effectively saving PM materials. However, its special structure causes difficulties in analytical modelling. This paper presents an AM for the 3-D magnetic field and torque of a permanent magnet spherical motor with stepped PMs. The analytical model of the 3-D magnetic field of the stepped PM is derived based on the loop current method, and the electromagnetic force of the stator coil is calculated based on the Lorentz force method. Thus the 3-D magnetic field and torque can be calculated efficiently with reasonable accuracy. The analytical model is verified by the FEM and experimental tests. The test results confirm the high accuracy of the developed model.
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This work was supported in part by the Key Project of the China National Natural Science Foundation (51637001) and the Nature Science Research Project of Anhui province (1908085QE236).
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He, J., Li, G., Zhou, R. et al. Torque Modelling and Validation for a Spherical Motor with Stepped Permanent Magnets. J. Electr. Eng. Technol. 15, 2661–2673 (2020). https://doi.org/10.1007/s42835-020-00538-y
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DOI: https://doi.org/10.1007/s42835-020-00538-y