摘要详情

ID / 提交时间

6 / 2024-07-14 10:33:17

标题

Torque Calculation Error Compensation for Reluctance Spherical Motor Based on Extreme Learning Machine

关键字

Reluctance spherical motor, torque calculation, error compensation, extreme learning machine

主题及专题

lMeasurements in Robotics

状态

终稿

作者

ShiMingfeng / Huaiyin Institute of Technology

WangQunjing / Anhui university

LiuYongbin / Anhui University

LuSiliang / Anhui University

摘要

To reduce the torque calculation error caused by the analytical model of reluctance spherical motor (RSM), this paper proposes a novel calculation error compensation method. Firstly, the calculation error between the calculated torque obtained by analytical method and the simulated torque is analyzed. Then, extreme learning machine(ELM) is adopted to compensate the torque calculation error according to the error characteristics. The simulation results show that this error compensation method has high compensation accuracy, strong stability and good real-time performance.