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Modeling and Control of a Hybrid Multi DOF Motor for a Tilted Rotating System

Author

Listed:
  • Hyun-Jong Park

    (Department of Electrical Engineering, Hanyang University, Seoul 04763, Korea)

  • Sung-Chul Go

    (Department of Robot Engineering, KEIMYUNG University, Daegu 42601, Korea)

Abstract

This paper presents the design, modeling, and control of a hybrid multi-degree-of-freedom motor (HMDOF motor) that can be applied to unmanned aerial vehicles, such as drones. The HMDOF motor has a rotating motor and tilting motors separately and enables multi-DOF movement by driving each motor. In addition, owing to its structural characteristics, it is designed to allow a 3- or 6-DOF movement in only one motor. In this study, the control performance of an HMDOF motor was verified using simulated and experimental results. The position control performance for the rotation speed of the rotating motor was verified, and the control performance of the motor under the speed of the rotating motor and disturbance on tilting motors were analyzed.

Suggested Citation

  • Hyun-Jong Park & Sung-Chul Go, 2022. "Modeling and Control of a Hybrid Multi DOF Motor for a Tilted Rotating System," Energies, MDPI, vol. 15(19), pages 1-17, October.
    • Handle: RePEc:gam:jeners:v:15:y:2022:i:19:p:7436-:d:937965
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    References listed on IDEAS

    as
    1. Xuliang Yao & Jicheng Zhao & Guangxu Lu & Hao Lin & Jingfang Wang, 2019. "Commutation Error Compensation Strategy for Sensorless Brushless DC Motors," Energies, MDPI, vol. 12(2), pages 1-22, January.
    2. Wojciech Giernacki & Jarosław Gośliński & Jagoda Goślińska & Tadeo Espinoza-Fraire & Jinjun Rao, 2021. "Mathematical Modeling of the Coaxial Quadrotor Dynamics for Its Attitude and Altitude Control," Energies, MDPI, vol. 14(5), pages 1-20, February.
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