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An Orientation Measurement Method Based on Hall-effect Sensors for Permanent Magnet Spherical Actuators with 3D Magnet Array

机译：基于霍尔效应传感器的3D磁体阵列永磁球形作动器的方位测量方法

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摘要

An orientation measurement method based on Hall-effect sensors is proposed for permanent magnet (PM) spherical actuators with three-dimensional (3D) magnet array. As there is no contact between the measurement system and the rotor, this method could effectively avoid friction torque and additional inertial moment existing in conventional approaches. Curved surface fitting method based on exponential approximation is proposed to formulate the magnetic field distribution in 3D space. The comparison with conventional modeling method shows that it helps to improve the model accuracy. The Hall-effect sensors are distributed around the rotor with PM poles to detect the flux density at different points, and thus the rotor orientation can be computed from the measured results and analytical models. Experiments have been conducted on the developed research prototype of the spherical actuator to validate the accuracy of the analytical equations relating the rotor orientation and the value of magnetic flux density. The experimental results show that the proposed method can measure the rotor orientation precisely, and the measurement accuracy could be improved by the novel 3D magnet array. The study result could be used for real-time motion control of PM spherical actuators.
机译：针对具有三维（3D）磁体阵列的永磁（PM）球形致动器，提出了一种基于霍尔效应传感器的定向测量方法。由于测量系统与转子之间没有接触，因此该方法可以有效避免常规方法中存在的摩擦转矩和额外的惯性矩。提出了一种基于指数逼近的曲面拟合方法，以求出3D空间中的磁场分布。与常规建模方法的比较表明，它有助于提高模型精度。霍尔效应传感器通过PM极分布在转子周围，以检测不同点的磁通密度，因此可以根据测量结果和分析模型来计算转子的方向。已经对球形致动器的研究原型进行了实验，以验证与转子方向和磁通密度值有关的解析方程的准确性。实验结果表明，所提出的方法可以精确地测量转子的方向，并且通过新型的3D磁体阵列可以提高测量精度。研究结果可用于永磁球形执行器的实时运动控制。

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