Design and torque control of an electromechanical integrating toroidal drive (Q2581752)

The paper is devoted to toroidal drive system, where permanent magnets and magnetic coils are used instead of the normal gear teeth. It allows meshing between mechanism parts without physical contact. Main advantages of this drive consist in more easy producing, not needing lubrication, and wear absence. The voltage is used as control, and the torque of the rotor is considered as observed measure (output). The governing electomechanical coupled dynamic equations for the drive system are presented by means of electromagnetic theory and mechanics. The torque transfer function of the drive system is derived from the obtained equations. Using MATLAB environment, the authors solve the problem to design time-varying voltage required to maintain constant rotor torque at steady state. The dependence of accuracy, stability and response of torque feedback control on the main mechanical and electric parameters is investigated.