Control system for coaxial magnetic gear-based drive modules and control method thereof

Drive Module Control System Based on Coaxial Magnetic Gears Using Rotor Electrical Phase Difference Control

This technology is a system that calculates the current electrical phase difference between rotors in a coaxial magnetic gear drive module equipped with a motor and multiple rotors, and controls the motor to a target torque by adjusting the rotation angle of one of the rotors to converge on a target phase difference.

Conventional reduction mechanisms suffer from wear due to mechanical contact, leading to high maintenance costs, while existing non-contact power transmission mechanisms have limitations in terms of torque control performance and stability.

This technology proposes a method that linearizes the non-linearity of magnetic gears by combining a disturbance observer with a non-contact power transmission structure that utilizes the magnet arrangement of inner and outer rotors. It can be applied to small robots and collaborative robot drive systems, enabling precise torque control while reducing maintenance costs through wear-free, sealed power transmission.

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Key Features:

• A drive module comprising a motor and a structure with multiple rotors mechanically coupled to the motor
• An inner bearing coupled to a shaft and an inner rotor surrounding it that includes a first magnet
• An outer rotor coupled in a surrounding configuration at a set distance from the inner rotor, including a second magnet
• A control module that calculates the current electrical phase difference of the rotors and adjusts the rotation angle to converge on a target phase difference

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This invention was developed with support from the Ministry of Science and ICT for research on the design and control of non-contact active small continuous variable transmission mechanism modules for ideal robot operation.