Research on Torque Modeling of the Reluctance Spherical Motor Based on Magnetic Equivalent Circuit Method

Lufeng Ju, Honglei Liu, Guoli Li (), Qunjing Wang and Kangjian Zha
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Lufeng Ju: Department of Electrical Engineering and Automation, Anhui University, Hefei 230601, China
Honglei Liu: Department of Electrical Engineering and Automation, Anhui University, Hefei 230601, China
Guoli Li: Department of Electrical Engineering and Automation, Anhui University, Hefei 230601, China
Qunjing Wang: Department of Electrical Engineering and Automation, Anhui University, Hefei 230601, China
Kangjian Zha: Department of Electrical Engineering and Automation, Anhui University, Hefei 230601, China

Energies, 2025, vol. 18, issue 11, 1-17

Abstract: Torque modeling is an important research aspect of multi-degree of freedom (multi-DOF) spherical motors, and it is the key to realizing the accurate control of multi-DOF spherical motors. In this paper, a torque modeling method of the reluctance spherical motor (RSPM) based on the magnetic equivalent circuit (MEC) method is proposed. Firstly, the structure of the RSPM is introduced, and the MEC topology of the RSPM is obtained. The calculation formulas of the reluctances in this topology are given. Then the magnetic flux of the RSPM is solved by the mesh analysis method, and the torque is calculated based on the magnetic field energy storage. Finally, the calculated torque is verified by the finite element method (FEM). The verification results show that the torque modeling of the RSPM based on the MEC method is correct, which consumes less memory and time than the three-dimensional finite element method.

Keywords: reluctance spherical motor; magnetic equivalent circuit (MEC); three-dimensional finite element method (3D-FEM) (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: 2025
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