Optical sensor-based rotor position detection method for permanent magnet spherical motor

Abstract

The invention discloses an optical sensor-based rotor position detection method for a permanent magnet spherical motor. The method comprises the permanent magnet spherical motor, a hemispherical housing, an optical sensor-based hardware detection circuit, an ARM development board and a position calculation algorithm; and the method is characterized in that the hemispherical housing is fixed on anoutput shaft of a rotor of the spherical motor; two optical sensors are fixedly arranged on a stator housing of the spherical motor at an interval of 90 degrees; displacement information of the surface of the moving hemispherical housing is obtained by the two optical sensors through detection; a yaw angle and a pitch angle of movement of the hemispherical housing are obtained through position calculation on the displacement information; and a position coordinate of a P point on the hemispherical housing is obtained through calculation. The spherical rotor and the hemispherical housing are coaxial and concentric, so that the position coordinate of an S point on the spherical rotor can be obtained according to the relationship between the radiuses of the spherical rotor and the hemispherical housing. A hardware structure on which the method disclosed by the invention is based is relatively simple, the position coordinate calculation algorithm is easy to implement, the detection error isrelatively small and the method has relatively high practical application value.

Description

technical field [0001] The invention belongs to the technical field of detecting the rotor position of a permanent magnet spherical motor, and more specifically relates to a method for detecting the rotor position of a permanent magnet spherical motor based on an optical sensor. Background technique [0002] With the advancement of science and technology, industrial devices have embarked on the road of diversification, automation and intelligence. In actual industrial applications, they are inseparable from ships, automobiles, industrial robots and manipulators, as small as household appliances and smart devices. motor. With the improvement of application requirements, the requirements for motor function and performance are also relatively increased. Some special structural devices that perform complex movements, such as industrial robots, often need to complete multi-dimensional motion control in space. If a traditional single-degree-of-freedom industrial motor is used, th...

AI Technical Summary

Problems solved by technology

To realize the closed-loop control of spherical motors, position detection is a key link, but so far, there is no feasible position detection scheme that can meet the needs of closed-loop control of spherical motors

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