Spherical Motor Position Detection Method Based on Accurate Modeling of Wireless Power Transmission

This article proposes a position detection method for a multi-to-one wireless power transmission (WPT) system for the first time and applies it to the position detection of a spherical motor. The traditional contact detection system has high friction resistance and poor rotor positioning accuracy. Although some noncontact measurement systems are not directly connected to the rotor, the structure or calculation of the measurement system is more complicated. To solve the abovementioned problems, this article proposes two structural topologies, which are evenly arranged on the upper part of the rotor and the receiving coil is placed on the rotor shaft. When the motor rotor rotates along with the three motion states of yaw, spin, and tilt, the receiving and multitransmitting coils will have an angular offset. The rotor position is obtained by a method of accurately estimating the mutual inductance. This method avoids complicated finite element calculations and saves a lot of time. Finally, the experiment verifies the above analysis and compares the data with the microelectromechanical system three-degree-of-freedom attitude detection method. This article provides insights into the position detection of spherical motors. This method simplifies the previous measurement system and obtains higher positioning accuracy.