三自由度球形电机相对坐标检测系统研究

Research on relative coordinate detection system of 3-DOF spherical motor

针对三自由度电机中的传统坐标变换在定子做空间运动失效的情形,借助四元数的相对坐标变换方法,提出了定子-转子坐标变换与转子-定子的相对坐标变换的四元数变换的两个算法。通过分别在定子、转子上安置绝对式位姿传感器,设计了应用相对坐标变换算法的三自由度球形电机检测系统。最后,给出了传统坐标变换与相对坐标变换的对比,相对于传统坐标变换,相对坐标变换算法解决了球形电机定子空间运动传统坐标失效的问题。

In light of the failure of traditional coordinate transformation of 3-DOF spherical motor in the case of the space motion of the stator,the Stator-Rotor coordinate transformation and Rotor-Stator coordinate transformation of a 3-DOF spherical motor is proposed in this paper,using quaternion coordinate transformation method.The 3-DOF spherical motor detection system based on the relative coordinate transformation algorithm proposed by the application is thus designed by setting the absolute position and orientation sensors on both stator and rotor of the spherical motor.The comparison between the traditional coordinate transformation and the relative coordinate transformation simulation calculation is made in the experiment part.Compared with the traditional coordinate transformation,the relative coordinate transformation algorithm solves the problem of the traditional coordinate failure of the spherical motor stator space motion.