Research on rotor region division and identification strategy of permanent magnet spherical motor

被引：0
|
作者：
Li H.-F. [1 ]
Bai E.-C. [1 ]
Chen X. [2 ]
Li B. [1 ]
机构：
[1] School of Electrical Automation and Information Engineering, Tianjin University, Tianjin
[2] Beijing Sifang Automation Co. Ltd, Beijing
来源：
Dianji yu Kongzhi Xuebao/Electric Machines and Control | 2021年 / 25卷 / 06期
关键词：
Hall sensor array; Permanent magnet spherical motor; Position detection; Unit intervals;
D O I：
10.15938/j.emc.2021.06.004
中图分类号：
学科分类号：
摘要：
The closed-loop control of permanent magnet spherical motors often needs to obtain rotor position information. This paper proposes a method for dividing the rotor interval of a permanent magnet spherical motor, and conducts a study on its position identification. According to the distribution characteristics of the magnetic field generated by the rotor poles and the influence of the stator energized coil, the output code conversion threshold of the linear Hall sensor was determined. The stator sphere was spaced based on the threshold to determine the installation position and quantity of the sensor. The position where the magnetic field generated by the rotor poles is greater than the threshold constitutes an approximately circular section on the inner surface of the stator spherical shell. The circular section was named a unit section, and a sensor was placed at the center of each unit section. Multiple unit sections overlapped each other on the stator surface to form a position section with a smaller range. In order to distinguish the magnetic pole position, the output code was obtained after comparing the absolute value of the magnetic field value output by the 24 sensors with the magnetic field threshold value, which was named 24-bit code. The sensor whose output code is 1 among the 24 sensors was subjected to secondary encoding to obtain a new set of codes used to determine the magnetic pole polarity, which is named as the polarity code. 24-bit encoding was integrated and polarity encoding to identify the rotor position. In order to verify the proposed rotor identification theory, an experimental platform was built for rotor position identification and verifies several typical rotor positions. The experimental results are consistent with the theoretical analysis results, which verifies the effectiveness of the rotor position identification method of the permanent magnet spherical motor proposed in this paper. © 2021, Harbin University of Science and Technology Publication. All right reserved.
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页码：27 / 36
页数：9
相关论文
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