Two-degree-of-freedom internal model control for toroidal motor based on internal disturbance observer

Abstract A toroidal motor is a novel type of space motor. The existence of planets in the composite rotor structure influences the output characteristic of the electromagnetic torque for the toroidal motor. Based on the spatial structure and working principle of the toroidal motor, the motion of the...
Ausführliche Beschreibung

Abstract A toroidal motor is a novel type of space motor. The existence of planets in the composite rotor structure influences the output characteristic of the electromagnetic torque for the toroidal motor. Based on the spatial structure and working principle of the toroidal motor, the motion of the planet tooth is analyzed, and its influence on the output torque is studied. A dynamic model of a toroidal motor is established with nonlinear electromagnetic parameters. The output response with a periodic fluctuation is analyzed. To improve the output performance of the toroidal motor, a two-degree-of-freedom (2DOF) internal model controller is designed to accelerate the response speed and reduce the steady-state error. However, periodic fluctuations of the toroidal motor cannot be eliminated under the 2DOF internal model control (IMC). To solve the problem of periodic fluctuation, an internal disturbance observer (IDOB) is designed. Research results show that the 2DOF IMC based on the designed IDOB strategy can effectively eliminate periodic fluctuations of toroidal motor, and improve the tracking effect, anti-load disturbance, and robust performance of the toroidal motor. Ausführliche Beschreibung