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Modeling mechanical disturbances induced by high intensity magnetic fields on electric motors
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DOI：10.1016/j.mechatronics.2026.103576.png)
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Abstract
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• Magnetic dipole model for estimating electric motor moments in magnetic fields. • Bi-harmonic surface fitting for real-time prediction of magnetic torque disturbances. • 180 magnetostatic simulations covering 20–100 mT and all motor orientations. • Experimental validation on a Unitree GO-M8010-6 motor with error below 0.027 Nm. • Framework supporting robust control of robots in magnetically harsh environments.
Keywords:
Magnetic dipole
Electric motors
Legged robotics
Magnetostatic simulation
Mechanical disturbance
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