Electromagnetic Modeling and Structure Optimization of a Spherical Force Sensing System

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering
• Actuator Technology

Background:

• Conventional force sensing systems (FSS) use complex mechanisms leading to mismatched inertia.
• This inertia negatively impacts the output performance of aircraft simulators.

Purpose of the Study:

• To propose a novel FSS utilizing a direct-drive spherical actuator to minimize simulator inertia.
• To develop a hybrid modeling method for analyzing system performance, including Ampere and cogging torques.

Main Methods:

• A hybrid modeling approach combining equivalent current method, Ampere force law, and Maxwell stress method.
• Development of an adaptive particle swarm optimization (PSO) algorithm for structure optimization.
• Experimental validation using a research prototype and testbed.

Main Results:

• The analytical model accurately predicts system performance, with experimental data showing good agreement.
• The proposed adaptive PSO algorithm effectively avoids local optimization, improving torque generation.
• The novel FSS design successfully reduces simulator inertia.

Conclusions:

• The developed analytical model provides a reliable basis for motion control of the novel FSS.
• The direct-drive spherical actuator approach offers a significant improvement over conventional FSS designs.
• This research paves the way for more efficient and accurate aircraft simulators.