The control system of spherical direct drive actuator with Hall sensors in a feedback

Are considered perspective, having high speed (up to 1000$^circ$/sec) and acceleration (10000$^circ$/sec$^2$), by accuracy of positioning (up to 0.5$^circ$ and is higher), large angular ranges of moving (up to 90$^circ$ on each of two axes) spherical direct drive actuators. This device is intended for rapid and precise mobile robot information system sensors moving. The physical fundamentals of spherical direct drive actuator with Hall sensors in a feedback and relative control system hardware configuration are described. On the basis of the analysis and the constructions of mathematical models of all factors rendering influence on control process are offered effective control algorithms of working heads of similar drives with Hall sensors in a feedback. The realization and experiments with this system on the acting samples of drives in structure of the mobile robot information system is circumscribed.