Magnetic Field Calculation and Dynamics Simulation of a Permanent Magnetic Hybrid Driven 3-DOF Motor

  • Zheng LiEmail author
  • Wei He
  • Lingqi Liu
  • Qunjing Wang
Original Article


In view of the poor precision of existing deflection movement control and low speed of multi-degree-of-freedom motor rotation speed, a novel type of permanent magnet type 3-DOF hybrid driven motor is proposed, the motor contains two part named lateral rotation module and internal deflection modules. By using Halbach permanent magnet array, the magnetic field shielding and optimization of two modules inside and outside the motor are realized, and the magnetic field characteristics of the motor are improved. Using the analytical and finite element methods, the magnetic field characteristics and distribution of the permanent magnet of the motor are analyzed and proved. The dynamic model of the motor is established and analyzed. The back EMF of the physical motor is tested and verifies the accuracy of the finite element model. The results provide a new theoretical basis for the follow-up optimization of this kind of motors.


3-DOF motor Halbach array Permanent magnet Magnetic field calculation Dynamic model 



This work is supported by the National Natural Science Foundation of China (Nos. 51577048, 51877070, 51637001), the Natural Science Foundation of Hebei Province of China (No. E2018208155), the Overseas Students Science and Technology Activities Funding Project of Hebei Province (No. C2015003044), the Hebei Industrial Technology Research Institute of Additive Manufacturing (Hebei University of Science and Technology) open projects funding, the National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University (No. KFKT201804), Key Project of Science and Technology Research in Hebei Provincial Colleges and Universities (ZD2018228).


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Copyright information

© The Korean Institute of Electrical Engineers 2019

Authors and Affiliations

  1. 1.School of Electrical EngineeringHebei University of Science and TechnologyShijiazhuangChina
  2. 2.National Engineering Laboratory of Energy-saving Motor and Control TechniqueAnhui UniversityHefeiChina

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