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

Hyun-Jong Park and Sung-Chul Go ()
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Hyun-Jong Park: Department of Electrical Engineering, Hanyang University, Seoul 04763, Korea
Sung-Chul Go: Department of Robot Engineering, KEIMYUNG University, Daegu 42601, Korea

Energies, 2022, vol. 15, issue 19, 1-17

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.

Keywords: multi-DOF (multi-degree-of-freedom) system; multi-DOF motor; hybrid motor; position control; vector (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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