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Design, control and optimization of multi-degree-of-freedom spherical induction motor

In order to meet the requirements of multi-degree-of-freedom (multi-DOF) driving units for omnidirectional vehicle wheels, a multi-DOF spherical induction motor (SIM) is proposed with composite rotor through the conversion of design concept of linear induction motor (LIM), which compensates for the insufficiency of traditional multi-DOF driving scheme with structural complexity, control difficulties and poor dynamic performance. The SIM realizes two DOF driving and has the characteristics of direct output on rotor surface. Firstly, the overall design of SIM is drafted, as well as finite element model and control system are established. Subsequently, in order to optimize SIM performance, the multi-objective optimization design of composite rotor structure is proposed by adopting non-dominated sorting genetic algorithm-II (NSGA-II). The results show that the reasonable design of rotor structure can effectively improve output torque and reduce fluctuation. And the proposed design idea based on theory of LIM can provide a reference for SIM design.