In order to improve movement performance and control efficiency,and to save the cost of the control system of the three-DOF permanent magnet spherical motor,this paper studies a three-DOF permanent magnet spherical motor with three-dimensional position detection and its control method.The magnetic field model,the dynamic model,the torque model and the back-EMF model of permanent magnet spherical motor were established.The motion control mechanism was analyzed.Based on these models,the voltage balance equati...
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