Browse > Article
http://dx.doi.org/10.5370/JEET.2018.13.1.352

A Sensing System of the Halbach Array Permanent Magnet Spherical Motor Based on 3-D Hall Sensor  

Li, Hongfeng (Dept. of Electrical Engineering and Automation, Tianjin University)
Liu, Wenjun (Dept. of Electrical Engineering and Automation, Tianjin University)
Li, Bin (Dept. of Electrical Engineering and Automation, Tianjin University)
Publication Information
Journal of Electrical Engineering and Technology / v.13, no.1, 2018 , pp. 352-361 More about this Journal
Abstract
This paper proposes a sensing system of the Halbach array permanent magnet spherical motor(PMSM). The rotor position can be obtained by solving three rotation angles, which revolves around 3 reference axes of the stator. With the development of 3-D hall sensor, the position identification problem of the Halbach array PMSM based on rotor magnetic field is studied in this paper. A nonlinear and serious coupling relationship between the rotation angles and the measured magnetic flux density is established on the basis of the rotation transformation theory and the magnetic field model. In order to get rid of the influence on position detection caused by the harmonics of rotor magnetic field and the stator coil magnetic field, a sensor location combination scheme is proposed. In order to solve the nonlinear equation fast and accurately, a new position solution algorithm which combines the merits of gradient projection and particle swarm optimization(PSO) is presented. Then the rotation angles are obtained and the rotor position is identified. The validity of the sensing system is verified through the simulation.
Keywords
Halbach array; PMSM; 3-D hall sensor; PSO; Gradient projection method;
Citations & Related Records
연도 인용수 순위
  • Reference
1 M. Hoshina, T. Mashimo, and S. Toyama, "Develop-ment of spherical ultrasonic motor as a camera actuator for pipe inspection robot," in Proc. IEEE int. Conf. Intelligent Robots and Systems, pp. 2379-2384, Dec. 2009.
2 H. J. Lee, H. J. Park, S. H. Won, G. H. Ryu, and J. Lee, "Improvements of Performance of Multi-DOF Spherical Motor by Doubled Air-gap Feature," JEET, vol. 8, no. 1, pp. 90-96, 2013.
3 N. Kasashima, K. Ashida, T. Yano, A. Gofuku, and M. Shibata, "Torque Control Method of an Electromagnetic Spherical Motor Using Torque Map," IEEE/ASME Trans. Mechatronics, vol. 21, no. 4, pp. 2050-2060, 2016.   DOI
4 K. M. Lee and D. Zhou, "A Real-Time Optical Sensor for Simultaneous Measurement of Three-DOF moions," IEEE/ASME Trans. Mechatronics, vol. 9, no. 3, pp. 499-507, 2004.   DOI
5 Y. Oner, E. Cetin, A.Yilanci, and H. K. Ozturk, "Design and performance evaluation of a photovoltaic suntracking system driven by a three-freedom spherical motor," Int. J. Exergy, vol. 6, no. 6, pp. 853-867, 2009.   DOI
6 P. M. Wheat, N. A. Marine, J. L. Moran, and J. D. Posner, "Rapid fabrication of bimetallic spherical motors," Langmuir, vol. 26, no. 16, pp. 13052-13055, 2016.   DOI
7 H. Garner, M. Klement, and K.-M. Lee, "Design and analysis of an absolute non-contact orientation sensor for wrist motion control," in Proc. IEEE int. Conf. Adv. Intell. Mechatronics, pp. 69-74, July 2001.
8 H. Kawano, H. Ando, T. Hirahara, C. Yun and S. Ueha, "Application of a multi-DOF ultrasonic servo-motor in an auditory tele-existence robot," IEEE Trans. Robotics, vol. 21, no. 6, pp. 790-800, 2005.   DOI
9 S. H. Foong, K. M. Lee, and K. Bai, "Magnetic Fieldbased Sensing Method for Spherical Joint," in Proc. IEEE int. Conf. Robotics and Automation, pp. 5447- 5452, May 2010.
10 J. J. Guo, C. Bak and H. Son, "Design of a Sensing System for a Spherical Motor Based on Hall Effect Sensors and Neural Networks," in Proc. IEEE int. Conf. Advanced Intelligent Mechatronics, pp. 1410-1414, July 2015.
11 P. Malcovati and F. Maloberti, "An Integrated Microsystem for 3-D Magnetic Field Measurements," IEEE Trans. Instrumentation and Measurement, vol. 49, no. 2, pp. 341-345, 2000.   DOI
12 D. X. CHEN, M. C. PAN, F. L. LUO, and W. Zhong, "The Design of a 3D Precision Magnetic Field Measurement System," JTMT, vol. 9, no. 3, pp. 279-282, 2005.
13 B. Li, C. L. Xia, H. F. Li and Y. Guan, "Study on the Position Identification of a Halbach Array Permanent Magnet Spherical Motor," in Proc. IEEE int. Conf. Robotics and Biomimetics, pp. 2080-2084, Dec. 2007.
14 G. S. Chyan, S.G. Ponnambalam, "Obstacle avoidance control of redundant robots using variants of particle swarm optimization," Journal of Robotics and Computer-Integrated Manufacturing, vol. 28, no. 2, pp. 147-153, 2012.
15 H. F. Li, C. L. Xia, P. Song, T. N. Shi, "Magnetic Field Analysis of A Halbach Array PM Spherical Motor," in Proc. IEEE int. Conf. Automation and Logistics, pp. 2019-2023, Aug. 2007.
16 H. F. Li, C. L. Xia, and T. N. Shi, "Spherical Harmonic Analysis of a Novel Halbach Array PM Spherical Motor," in Proc. IEEE int. Conf. Robotics and Biomimetics, pp. 2085-2089, Dec. 2007.