一种球形电动机转子三自由度位置检测方法研究

Novel Three-DOF Position Detection Method for Permanent Magnet Spherical Motor Rotor

研究了一种永磁球形电动机转子位置检测方法,通过结合多组三维霍尔传感器及永磁体进行球形转子空间位移和角位移的三自由度位置检测,改进了测量球形电动机转子位置的方法,给出了具体的求解方法。对检测过程中来自系统内外的线圈和永磁体产生的误差因素依次进行了理论研究和仿真分析。仿真和实验结果证明,该方法能对球形电动机转子三自由度位置进行有效检测,为三自由度球形电动机位置检测提供了新的思路。

A method for detecting the three-degree-of-freedom(three-DOF)position of the rotor of a PM spherical motor was designed.By using multiple sets of Hall sensors and permanent magnets,the three-DOF position including Spatial displacement and angular displacementof the spherical rotor was detected.The method of measuring the rotor position of the spherical motor was improved.The specific solution method is given.The factors that produce errors from coils and permanent magnets inside and outside the system were theoretical and simulated analyzed.Simulation and experimental results show the validity of detection system and provide a new idea for the three-DOF position detection of the three-DOF spherical motor.