Sung-Tak Jou and Kyo-Beum Lee, "Control of a Toroidal Type Rotor with a Magnetic Bearing Structure for the Gyro Actuator," The Transactions of the Korean Institute of Electrical Engineers, vol. 64, no. 12, pp. 1703–1708, Dec. 2015. > Paper

This paper deals with the position and torque control of a toroidal type rotor which has a magnetic bearing structure. The proposed

magnetic bearing structure supports the rotor by the repulsive forces of permanent magnets, and has a two degree of freedom for

rotor position when the rotor is rotating. Permanent magnets and coils in the stator allow for a two degree of freedom control of

the rotor position and torque generation by reacting with permanent magnets of the rotor. The executed gyro actuator has a number

of poles such as five-phase permanent magnet motors and 10 stator coils for the rotor position control. In this study, the verification

of the stability of the magnetic bearing was conducted using the equation of motion when the rotor was rotating, and the coil

current commutation method for the position control and torque generation was studied. As a result, the feasibility of the proposed

structure and control was verified by simulations of Finite Element Method (FEM) and experiments using the executed gyro actuator.