Intro; Preface; Contents; Nomenclature; 1 Introduction; 1.1 Background; 1.2 The State of the Art; 1.2.1 Magnetic Modeling and Analysis; 1.2.2 Orientation Sensing; 1.2.3 Control Methods; 1.3 Book Outline; References; Modeling Methods; 2 General Formulation of PMSMs; 2.1 PMSM Electromagnetic System Modeling; 2.1.1 Governing Equations of Electromagnetic Field; 2.1.2 Boundary Conditions; 2.1.3 Magnetic Flux Linkage and Energy; 2.1.4 Magnetic Force/Torque; 2.2 PMSM Rotor Dynamics; References; 3 Distributed Multi-pole Models; 3.1 Distributed Multi-pole Model for PMs; 3.1.1 PM Field with DMP Model

3.1.2 Numerical Illustrative Examples3.2 Distributed Multi-pole Model for EMs; 3.2.1 Equivalent Magnetization of the ePM; 3.2.2 Illustrations of Magnetic Field Computation; 3.3 Dipole Force/Torque Model; 3.3.1 Force and Torque on a Magnetic Dipole; 3.3.2 Illustration of Magnetic Force Computation; 3.4 Image Method with DMP Models; 3.4.1 Image Method with Spherical Grounded Boundary; 3.4.2 Illustrative Examples; 3.4.3 Effects of Iron Boundary on the Torque; 3.5 Illustrative Numerical Simulations for PMSM Design; 3.5.1 Pole Pair Design; 3.5.2 Static Loading Investigation

3.5.3 Weight-Compensating RegulatorAppendix; References; 4 PMSM Force/Torque Model for Real-Time Control; 4.1 Force/Torque Formulation; 4.1.1 Magnetic Force/Torque Based on the Kernel Functions; 4.1.2 Simplified Model: Axis-Symmetric EMs/PMs; 4.1.3 Inverse Torque Model; 4.2 Numerical Illustrations; 4.2.1 Axis-Asymmetric EM/PMs; 4.2.2 Axis-Symmetric EM/PM; 4.3 Illustrative PMSM Torque Modelling; Sensing Methods; 5 Field-Based Orientation Sensing; 5.1 Coordinate Systems and Sensor Placement; 5.2 Field Mapping and Segmentation; 5.3 Artificial Neural Network Inverse Map

5.4 Experimental Investigation5.4.1 2-DOF Concurrent Characterization; References; 6 A Back-EMF Method for Multi-DOF Motion Detection; 6.1 Back-EMF for Multi-DOF Motion Sensing; 6.1.1 EMF Model in a Single EM-PM Pair; 6.1.2 Back-EMF with Multiple EM-PM Pairs; 6.2 Implementation of Back-EMF Method on a PMSM; 6.2.1 Mechanical and Magnetic Structure of the PMSM; 6.2.2 Numerical Solutions for the MFL Model; 6.2.3 Experiment and Discussion; 6.2.4 Parameter Estimation of the PMSM with Back-EMF Method; Appendix; References; Control Methods; 7 Direct Field-Feedback Control

7.1 Traditional Orientation Control Method for Spherical Motors7.1.1 PD Control Law and Stability Analysis; 7.1.2 Comments on Implementation of Traditional Control Methods; 7.2 Direct Field-Feedback Control; 7.2.1 Determination of Bijective Domain; 7.2.2 DFC Control Law and Control Parameter Determination; 7.2.3 DFC with Multi-sensors; 7.3 Numerical 1-DOF Illustrative Example; 7.3.1 Sensor Design and Bijective Domain Identification; 7.3.2 Field-Based Control Law; 7.3.3 Numerical Illustrations of Multiple Bijective Domains; 7.4 Experimental Investigation of DFC for 3-DOF PMSM