CN113726099B - Multi-degree-of-freedom attitude measurement system and method for spherical motor - Google Patents
Multi-degree-of-freedom attitude measurement system and method for spherical motor Download PDFInfo
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- CN113726099B CN113726099B CN202110914438.0A CN202110914438A CN113726099B CN 113726099 B CN113726099 B CN 113726099B CN 202110914438 A CN202110914438 A CN 202110914438A CN 113726099 B CN113726099 B CN 113726099B
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Abstract
本发明提供了一种球形电机多自由度姿态测量系统及方法，属于传感器技术领域，测量系统包括：传感器固定模块、霍尔传感器和球关节；霍尔传感器安装在传感器固定模块，且关于球关节中心对称分布；球关节支持绕三轴转动；电机中的转子用于在转子永磁体与定子线圈之间的力矩驱动下三自由度转动；测量磁体用于根据转子的转动发生姿态变化，进而影响霍尔传感器处的磁场值发生变化；霍尔传感器用于采集其所在位置的磁场值；磁场值用于实时计算转子永磁体的姿态。本发明避免了现有球形电机由于存在磁场的影响以及偏航角不易测量导致位姿控制非常困难且控制精度极差的问题。
The invention provides a multi-degree-of-freedom attitude measurement system and method for a spherical motor, belonging to the technical field of sensors. The measurement system includes: a sensor fixing module, a Hall sensor and a ball joint; the Hall sensor is installed on the sensor fixing module, and the ball joint The center is symmetrically distributed; the ball joint supports rotation around three axes; the rotor in the motor is used for three-degree-of-freedom rotation driven by the torque between the rotor permanent magnet and the stator coil; the measuring magnet is used to change the attitude according to the rotation of the rotor, thereby affecting the The magnetic field value at the Hall sensor changes; the Hall sensor is used to collect the magnetic field value at its location; the magnetic field value is used to calculate the attitude of the rotor permanent magnet in real time. The invention avoids the problems that pose control is very difficult and the control precision is extremely poor due to the influence of the magnetic field and the difficulty in measuring the yaw angle of the existing spherical motor.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a system and a method for measuring multiple degrees of freedom (MDOF) attitude of a spherical motor.
Background
The spherical motor is a three-degree-of-freedom rotating system which can be controlled through direct drive, and compared with a traditional multi-degree-of-freedom rotating system, the spherical motor has the advantages of compact structure and easiness in realizing accurate pose control. In order to control the attitude of the spherical motor, it is necessary to accurately measure the attitude of the spherical motor in real time.
Theoretically, the three-axis accelerometer, the three-axis gyroscope and the three-axis geomagnetism can all resolve the attitude of the spherical motor. However, the triaxial accelerometer is sensitive to vibration and is susceptible to high-frequency interference, and the accelerometer cannot measure a self-rotation angle; errors in measuring the attitude of a spherical motor can accumulate over time due to drift in a three-axis gyroscope. Therefore, a nine-axis inertial measurement unit is generally used for attitude fusion, but in a motor use environment, since a magnetic field generated by a motor coil and a permanent magnet is far larger than a geomagnetic field, the magnetometer cannot be used. If attitude fusion is performed using a 6-axis inertial measurement unit, the accelerometer cannot measure the yaw angle, and therefore the yaw angle cannot be fused, and the measurement of the yaw angle is accumulated over time due to the drift of the gyroscope. And for the yaw angle, the measurement of the gyroscope belongs to relative measurement, and the initial position of the yaw angle is not convenient to find in the control process.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a multi-degree-of-freedom attitude measurement system and a multi-degree-of-freedom attitude measurement method for a spherical motor, and aims to solve the problems that the existing spherical motor is very difficult in pose control and extremely poor in control precision due to the influence of a magnetic field and the fact that a yaw angle is not easy to measure.
In order to achieve the above object, in one aspect, the present invention provides a posture measuring system with multiple degrees of freedom for a spherical motor, including: the sensor fixing module, the Hall sensor, the measuring magnet and the ball joint are arranged on the sensor fixing module; the Hall sensor is arranged on the sensor fixing module; the sensor is divided into two groups, each group is provided with a plurality of Hall sensors, the two Hall sensors corresponding to the groups are symmetrically distributed around the center of a spherical joint, and the influence of an interference magnetic field is counteracted in a differential mode; the ball joint supports rotation around three axes;
the spherical motor comprises a stator, a stator coil, a rotor permanent magnet and an output shaft; the outermost rotor and/or stator is spherical; the stator coil and the rotor permanent magnet are symmetrically distributed around the center of the ball joint; the output shaft and the rotor are fixedly connected with the ball joint; two rotor permanent magnets symmetrically distributed about the center of the spherical joint are in one group, the magnetizing directions of the two rotor permanent magnets in the same group are the same, and the magnetizing directions of the two adjacent groups of rotor permanent magnets are opposite; the magnetization direction of the measuring magnet is vertical to the output shaft; the interference magnetic field is a magnetic field generated on the Hall sensor under the combined action of the rotor permanent magnet and the coil;
the rotor is used for three-degree-of-freedom rotation under the drive of the moment between the rotor permanent magnet and the stator coil; the measuring magnet is used for generating attitude change according to the rotation of the rotor so as to influence the change of a measuring magnetic field value at the Hall sensor; the measured magnetic field value at the Hall sensor is the magnetic field value of a magnetic field generated by the rotation of the output shaft at the Hall sensor; the Hall sensor is used for collecting the magnetic field value measured at the position where the Hall sensor is located; and measuring the magnetic field value to calculate the attitude of the rotor permanent magnet in real time.
Preferably, the rotor of the spherical motor is arranged concentrically with the stator, and the stator is positioned at the inner side of the rotor; the inner surface of the rotor is provided with a rotor permanent magnet; a stator coil is arranged on the outer surface of the stator; the output shaft penetrates through the ball joint and is fixedly connected with the measuring magnet;
preferably, the stator coils are uniformly distributed on the outer surface of the stator, and the rotor permanent magnets are uniformly distributed on the inner surface of the rotor;
preferably, the sensor fixing module is a PCB;
preferably, the measuring magnet is as close to the sensor as possible without interference;
preferably, the ball joint material is not easily magnetized;
preferably, the hall sensor is a three-axis hall sensor;
preferably, the measuring magnet is in the shape of a cylindrical magnet, a square magnet or a spherical magnet.
On the other hand, the invention provides a multi-degree-of-freedom attitude measurement system of a spherical motor, and the invention provides a corresponding multi-degree-of-freedom attitude measurement method of the spherical motor, which comprises the following steps:
the rotor is driven by the torque between the rotor permanent magnet and the stator coil to rotate in three degrees of freedom;
the measuring magnet changes posture under the action of rotation of the rotor, so that the magnetic field distribution caused by the rotation of the output shaft changes;
the Hall sensors which are symmetrically distributed are adopted, the interference magnetic field is offset in a differential mode, the measured magnetic field value of the position where the Hall sensors are located is collected, and the posture of the rotor is calculated in real time.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
on one hand, the Hall sensors are symmetrically distributed about the center of the ball joint, and the stator coil and the rotor permanent magnet are symmetrically distributed about the center of the ball joint; the two rotor permanent magnets symmetrically distributed about the center of the spherical joint are in one group, the magnetization directions of the two rotor permanent magnets in one group are the same, and the magnetization directions of the two rotor permanent magnets in the two adjacent groups are opposite; the magnetic fields generated by the rotor permanent magnet and the stator coil of the motor in any state can be ensured to be equal when the magnetic field intensity is generated on the Hall sensors which are symmetrical about the center of the ball joint, namely the Hall sensors which are symmetrically distributed counteract the influence of an interference magnetic field in a differential mode, so that the attitude measurement precision of the rotor permanent magnet can be improved; the measuring magnet is eccentric, and the magnetic field generated at the Hall sensor is not counteracted, so that the influence of the magnetic field on the rotor permanent magnet can be counteracted by using the magnetic field difference of a pair of Hall sensors which are symmetrical about the center of the spherical joint; on the other hand, the rotation of the rotor can be fed back to the attitude change of the measuring magnet, so that the magnetic field value at the Hall sensor is changed, the magnetic field at the position of the Hall sensor is measured by establishing the relation between the magnetic field and the attitude, the attitude of the rotor permanent magnet can be calculated in real time, and the real-time measurement of the attitude of the rotor can be realized; the problems that the position and orientation control is very difficult and the control precision is extremely poor due to the fact that the existing spherical motor has magnetic field influence and the yaw angle is not easy to measure are solved.
Drawings
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom attitude measurement system of a spherical motor according to an embodiment of the present invention;
description of the labeling:
1-a stator; 2-stator coils; 3-a rotor; 4-rotor permanent magnets; 5-an output shaft; 6-ball joint; 7-measuring the magnet; 8-PCB; 9-Hall sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
FIG. 1 provides a cross-sectional view of a multi-degree-of-freedom attitude measurement system for a spherical motor; as can be seen from fig. 1, the spherical motor multiple-degree-of-freedom attitude measurement system comprises a PCB8, a hall sensor 9, a measurement magnet 7 and a ball joint 6; the spherical motor includes: the permanent magnet synchronous motor comprises a stator 1, a stator coil 2, a rotor 3, a rotor permanent magnet 4 and an output shaft 5;
the stator 1 and the rotor 3 are both in a spherical structure, the radius of the stator 1 is smaller than that of the rotor 3, the stator 1 and the rotor 3 are nested concentrically, and the stator 1 is positioned on the inner side of the rotor 3; a stator coil 2 is arranged on the outer surface of the stator 1; the stator coil 2 is centrosymmetric about the ball joint 6; the inner surface of the rotor 3 is provided with a rotor permanent magnet 4; the rotor permanent magnets 4 are centrosymmetric about the ball joint 6, the magnetizing directions of the symmetric rotor permanent magnets 4 are the same, and the magnetizing directions of the adjacent rotor permanent magnets 4 are opposite; the measuring magnet 7, the rotor 3 and the output shaft 5 are rigidly connected, and the output shaft 5 penetrates through the ball joint 6 and is fixedly connected with the measuring magnet 7; the PCB8 is arranged on the stator 1 symmetrically about the center of the ball joint, and the Hall sensor 9 is arranged on the PCB 8; the ball joint 6 can rotate around three axes (xyz axes);
as shown in fig. 1, the spherical electronic rotor 3 is driven by the torque between the rotor permanent magnet 4 and the stator coil 2 to rotate in three degrees of freedom; the measuring magnet 7, the rotor 3 and the output shaft 5 are rigidly connected, so that the rotation of the rotor 3 can be fed back to the attitude change of the measuring magnet 6; in order to enable the rotation energy of the output shaft 5 to cause the distribution change of the magnetic field, the magnetization direction of the measuring magnet 7 is vertical to the output shaft 5; the attitude change of the measuring magnet 7 can cause the magnetic field value at the Hall sensor 9 to change, and the magnetic field at the position of the Hall sensor 9 is measured by establishing the relation between the magnetic field and the attitude, so that the attitude of the rotor permanent magnet 4 can be calculated in real time, namely the real-time measurement of the attitude of the rotor 3 is realized;
in order to overcome the influence of the magnetic field of the motor, the hall sensors 9 are distributed symmetrically about the center of the ball joint 6, the magnetic fields generated by the rotor permanent magnet 4 and the stator coil 2 in any state of the motor are equal in magnetic field intensity on the hall sensors 9 which are symmetrical about the center of the ball joint 6, and the magnetic fields generated by the measuring magnets 7 are eccentric and are not offset, so that the influence of the magnetic field on the rotor permanent magnet 4 can be offset by using the magnetic field difference of the pair of hall sensors 9 which are symmetrical about the center of the ball joint 6.
More specifically, the rotor permanent magnets include, by way of example, a first rotor permanent magnet PM1 and a second rotor permanent magnet PM 2; the first hall Sensor1 and the second hall Sensor2 are symmetrical about the center of the ball joint 6; the values of the magnetic fields generated by the first rotor permanent magnet PM1 and the second rotor permanent magnet PM2 acting on the first Hall Sensor1 and the second Hall Sensor2 are equal; similarly, the magnetic field values generated by the coils which are symmetrical about the center of the ball joint and act on the first hall Sensor1 and the second hall Sensor2 are equal; the magnetic field generated by the rotor permanent magnet and the coil acting together on the Hall sensor is an interference magnetic field and is a common-mode signal;
however, the measuring magnet 7 has eccentricity, and the magnetic fields generated by the first hall Sensor1 and the second hall Sensor2 are not equal; the magnetic field is a measuring magnetic field;
the magnitudes of the magnetic fields measured by the first hall Sensor1 and the second hall Sensor2 can cancel the influence of the interference magnetic field by making a difference, and the measured magnetic fields are not equal and still can be reflected in the difference value of the magnetic fields measured by the first hall Sensor1 and the second hall Sensor 2.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (7)
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| CN115459530B (en) * | 2022-10-13 | 2025-11-07 | 电子科技大学长三角研究院(湖州) | Permanent magnet spherical stepping motor for robot simulation joint |
| CN115937313A (en) * | 2022-12-04 | 2023-04-07 | 安徽理工大学 | A spherical motor rotor attitude detection method and detection device |
| CN120016767B (en) * | 2025-01-21 | 2025-10-28 | 北京大学 | Spherical motor and position estimation method |
Citations (3)
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|---|---|---|---|---|
| JP2003070272A (en) * | 2001-08-24 | 2003-03-07 | Toyama Shigeki | Spherical ultrasonic motor and magnetized sphere suitable therefor |
| JP2013150426A (en) * | 2012-01-18 | 2013-08-01 | Minebea Co Ltd | Spherical motor |
| CN109612375A (en) * | 2018-11-20 | 2019-04-12 | 天津大学 | A method for detecting rotor position of spherical motor based on Hall element |
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| US10734878B2 (en) * | 2017-09-27 | 2020-08-04 | Electronics And Telecommunications Research Institute | Spherical wheel motor and control system thereof |
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Patent Citations (3)
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|---|---|---|---|---|
| JP2003070272A (en) * | 2001-08-24 | 2003-03-07 | Toyama Shigeki | Spherical ultrasonic motor and magnetized sphere suitable therefor |
| JP2013150426A (en) * | 2012-01-18 | 2013-08-01 | Minebea Co Ltd | Spherical motor |
| CN109612375A (en) * | 2018-11-20 | 2019-04-12 | 天津大学 | A method for detecting rotor position of spherical motor based on Hall element |
Non-Patent Citations (1)
| Title |
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| 球形电机多自由度姿态传感融合方法研究及应用;代旺;《中国优秀博硕士学位论文全文数据库(硕士)工程科技Ⅱ辑》;20200115;C042-416 * |
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