Mathematical model of two-degree-of-freedom direct drive induction motor considering coupling effect

Jikai Si*, Lujia Xie, Junbo Han, Haichao Feng, Wenping Cao, Yihua Hu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


The Two-degree-of-freedom direct drive induction motor, which is capable of linear, rotary and helical two, has a wide application in special industry such as industrial robot arms. It is inevitable that the linear motion and rotary motion generate coupling effect on each other on account of the high integration. The analysis of this effect has great significance in the research of two-degree-of-freedom motors, which is also crucial to realize precision control of them. The coupling factor considering the coupling effect is proposed and addressed by 3D finite element method. Then the corrected mathematical model is presented by importing the coupling factor. The results from it are verified by 3D finite element model and prototype test, which validates the corrected mathematical model.

Original languageEnglish
Pages (from-to)1227-1234
Number of pages8
JournalJournal of Electrical Engineering and Technology
Issue number3
Publication statusPublished - 1 May 2017

Bibliographical note

ⓒ The Korean Institute of Electrical Engineers. This is an Open-Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License ( which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.


  • 3-D finite element method
  • coupling effect
  • mathematical model
  • two-degree-of-freedom direct-drive induction motor


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