The stator employs two orthogonal axial bending modes and a radial bending mode, by exciting two of them simultaneously, to generate elliptic trajectories on driving feet tips and to push sphere rotor around x, y and z axis respectively.
wind power rotor swept area.
A rotor starts whirring and a white sphere the size of a large beach ball rises.
The electromechanical model of the reaction sphere is summarized together with procedures to estimate the rotor magnetic state, the back-EMF voltage, and the rotor angular velocity, which are all fundamental ingredients for controller design.
The proposed reaction sphere is a permanent magnet spherical actuator whose rotor is supported by magnetic bearing and can be torqued electronically about any desired axis.
It is based on a spherical rotor, which is - like a ball joint - guided in a sphere.
The new version uses an induction motor, which magnetically drives the sphere (solid iron, with a copper shell) with stators, the way other induction motors would drive a rotor.
