Two-dimensional location method of moving platform based on magnetic steel array

A motion platform, magnetic steel array technology, applied in the direction of holding devices with magnetic attraction or thrust, testing of machine/structural components, testing of static/dynamic balance, etc., can solve complex circuits and optical equipment, high cost, measurement Accuracy loss and other issues to achieve the effect of robust position calculation method

Active Publication Date: 2010-06-23
TSINGHUA UNIV +1
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Problems solved by technology

[0004] In many motion systems including planar motors, high-precision grating scales are used as position detection components. Although the measurement accuracy is high, it requires more complicated circuits and optical equipment and costs more.
At the same time, there are also systems that directly use Hall sensors for posit...

Method used

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  • Two-dimensional location method of moving platform based on magnetic steel array
  • Two-dimensional location method of moving platform based on magnetic steel array
  • Two-dimensional location method of moving platform based on magnetic steel array

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Embodiment

[0050] The minimum number of linear Hall sensors 4 placed on the motion platform 3 is determined by the number of unknown parameters contained in the magnetic steel array 2 magnetic flux density distribution model, and the more the number of placed on this basis , it is more beneficial to reduce the uncertainty of the phase solution result of the motion platform 3, therefore, n is at least equal to 4.

[0051] refer to Figure 4 , taking four linear Hall sensors 4 placed on the surface of the motion platform 3 and using the unscented Kalman filter algorithm as an example to describe the present invention, so as to further understand the present invention.

[0052] 1) Select any 4 different positions within the two pole distances of the magnetic steel array 2 on the surface of the motion platform 3 in the motion system, and place a linear Hall sensor 4 at each position;

[0053] 2) Reference figure 2 , determine the magnetic flux density distribution model formula according ...

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Abstract

The invention provides a two-dimensional location method of a moving platform based on a magnetic steel array. The method comprises the following steps: putting more than four linear Hall sensors at optional different positions in one or more polar distances of the magnetic steel array on the surface of the moving platform in a moving system, determining a magnetic flux density distributed model according to the magnetic steel array, determining the mounting positions of the linear Hall sensors, converting into the phases with respect to the mass center of the moving platform, recording the magnetic flux density measured values of the linear Hall sensors in a moving process, using the measured values as observed quantities and the magnetic flux density distributed model as a computation model, resolving the phase of the mass center of the moving platform in a plane, using the phase as evidence, and determining the position of the mass center of the moving platform with respect to an initial phase to realize the planar location of the moving platform. The invention provides a simple, convenient, quick and robust computational method of the mass center position of the platform for the moving system containing the magnetic steel array.

Description

technical field [0001] The invention relates to a measurement method of a moving part including a magnetic steel array, in particular to a measurement method using a linear Hall sensor, and belongs to the technical field of measurement and data processing. Background technique [0002] At present, many modern scientific instruments need to work in a precise magnetic field environment; in the directions of navigation, communication, maglev train series and medical treatment, many devices are also realized based on the measurement of magnetic fields. In particular, it is more widely used in related motor fields such as multi-degree-of-freedom motors and servo motors. [0003] Among them, the moving coil magnetic levitation planar motor is a type of motor that generates a magnetic field environment based on a magnetic steel array, and can rely on expanding the area of ​​the magnetic steel array to achieve a large-stroke movement. It places a large-area specially arranged magne...

Claims

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Application Information

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IPC IPC(8): G01M1/12
CPCH02N15/00G01D5/145G01D2205/90
Inventor 胡金春朱煜汪劲松张鸣廖凯杨开明徐登峰尹文生段广洪
Owner TSINGHUA UNIV
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