Dynamic Analysis of Double Excited 3-DOF Motor Modeling Using Equivalent Magnetic Circuit

Abstract

This paper implements a model of a double excited three-degree-of-freedom motor (3-DOF) coupled with a PI current controller for position control. The rotational trends of the rotor according to the applied steps are identified using a motion equation. The simulation model is a complete electrical and mechanical model of a 3-DOF motor, which mainly consists of mechanical torque equations, a nonlinear equivalent magnetic circuit, and a PI current controller. This machine is tested using the manufactured control board using the same conditions as in the simulation, where the experimental results also verify the accuracy of the simulation results.