System and method for controlling a variable reluctance spherical motor

The system of claim 16, further comprising:

• means for determining stator current values for said pluralities of stator poles in order to achieve said torques;
• means for comparing said stator current values with respective maximum current values corresponding with said stator poles;
• means for replacing each stator current value with a corresponding maximum current value when said stator current value exceeds said maximum current value;
• and
• means for forwarding said stator current values to said plurality of said stator poles.

A system for controlling a variable reluctance spherical motor, comprising:

• a spherical stator having a plurality of stator poles;
• a spherical rotor surrounded by said stator and having a plurality of rotor poles, said spherical rotor and said spherical stator having a common center;
• means for permitting relative movement of said rotor and said stator about said common center;
• a grid pattern substantially concentric and movable with said rotor;
• an image sensor configured to view said grid pattern;
• processing means connected to said image sensor, said processing means for determining a three dimensional orientation of said rotor relative to said stator from an image of said grid pattern;
• and
• control means associated with said processing means, said control means for determining a torque to be applied by said stator upon said rotor to achieve a desired rotor trajectory, said control means for controlling relative movement between said stator and said rotor by selectively energizing said poles in order to achieve said torque.

A system for controlling a variable reluctance spherical motor, comprising:

• a spherical stator having a plurality of stator poles;
• a spherical rotor surrounded by said stator and having a plurality of rotor poles, said rotor and said stator capable of relative movement about a common center;
• means for determining a three dimensional orientation of said rotor relative to said stator;
• means for controlling energization of said poles to achieve a desired rotor trajectory;
• and
• means for minimizing total energy input to said poles in order to achieve said desired rotor trajectory;
• wherein said stator poles comprise stator coils, each of said stator coils connected to a corresponding current amplifier, each corresponding current amplifier connected to a digital-to-analog converter, each said digital-to-analog converter interfaced with a decoder which is connected to said controlling means.

A method for controlling a variable reluctance spherical rotor having a spherical stator concentric with a spherical rotor, said stator having a plurality of stator poles and said rotor having a plurality of rotor poles, and a control means for controlling relative movement between the stator and the rotor about a common center by selectively energizing said poles, the method comprising the steps of:

• determining a torque to be applied by said stator upon said rotor to achieve a desired trajectory;
• energizing the poles to achieve said torque;
• and
• minimizing total energy input to said poles in order to achieve said desired rotor trajectory;
• wherein each of said stator poles comprises a stator coil and further comprising the steps of:
• determining stator current values for said plurality of said stator poles in order to achieve said torques;
• comparing said stator current values with respect to maximum current values corresponding with said stator poles;
• replacing each stator current value with a corresponding maximum current value when said stator current value exceeds maximum current value;
• and
• forwarding said stator current values to said plurality of said stator poles.