基于光学传感器的永磁球形电机实时姿态检测方法

Real-time attitude detection method of permanent magnet spherical motor based on optical sensor

针对永磁球形电机转子体姿态检测技术精度不高,实时性较差等问题,提出了一种基于光学传感器的永磁球形电机转子体实时姿态检测方法。使用安装在定子外壳上的3只光学传感器实时检测转子体表面的速度。由微控制器将速度信息传递给上位机,并通过积分运算获得转子体的实时角度信息。在此基础上,通过坐标变换和转子体上任意点的初始姿态信息求解出该点的实时姿态。实验结果表明:所提出方法能够实时、准确地检测转子体的姿态信息,为下一步实现永磁球形电机高精度的跟踪控制提供参考和借鉴。

Aiming at the problems of low precision and poor real-time of rotor attitude detection technology of permanent magnet spherical motor(PMSM),a real-time attitude detection method of PMSM rotor based on optical sensor is proposed.Three optical sensors installed on the stator shell are used to detect speed information of rotor surface in real-time.Speed information is transmitted to the upper computer by the microcontroller, and the real-time angle information of the rotor is obtained by integral operation.On this basis, the real-time attitude information of any point on the rotor is obtained by coordinate transformation and initial attitude information.The experimental results show that the design method can detect the attitude information of the rotor in real-time and accurately, which provides reference for the next step to achieve high-precision tracking control of PMSM.