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A Sensing System of the Halbach Array Permanent Magnet Spherical Motor Based on 3-D Hall Sensor

  • Li, Hongfeng (Dept. of Electrical Engineering and Automation, Tianjin University) ;
  • Liu, Wenjun (Dept. of Electrical Engineering and Automation, Tianjin University) ;
  • Li, Bin (Dept. of Electrical Engineering and Automation, Tianjin University)
  • Received : 2017.05.11
  • Accepted : 2017.10.24
  • Published : 2018.01.01

Abstract

This paper proposes a sensing system of the Halbach array permanent magnet spherical motor(PMSM). The rotor position can be obtained by solving three rotation angles, which revolves around 3 reference axes of the stator. With the development of 3-D hall sensor, the position identification problem of the Halbach array PMSM based on rotor magnetic field is studied in this paper. A nonlinear and serious coupling relationship between the rotation angles and the measured magnetic flux density is established on the basis of the rotation transformation theory and the magnetic field model. In order to get rid of the influence on position detection caused by the harmonics of rotor magnetic field and the stator coil magnetic field, a sensor location combination scheme is proposed. In order to solve the nonlinear equation fast and accurately, a new position solution algorithm which combines the merits of gradient projection and particle swarm optimization(PSO) is presented. Then the rotation angles are obtained and the rotor position is identified. The validity of the sensing system is verified through the simulation.

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Fig. 1 The schematic diagram of the 3 DOF motion

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Fig. 2 The sketch map of positioning

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Fig. 3 The magnetic field of the stator coil with distance rvaries

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Fig. 4 The comparison of rotor magnetic field between themain magnetic field sensor and the auxiliarymagnetic field sensor 1

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Fig. 5 The comparison of rotor magnetic field between themain magnetic field sensor and the auxiliarymagnetic field sensor 1,2

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Fig. 6 The installation location map of the main magneticfield sensor and the auxiliary magnetic field sensors

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Fig. 7 The comparison of rotor magnetic field betweenthe main magnetic field sensor and the auxiliarymagnetic field sensor 1,2

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Fig. 8 The comparison of rotation angles solved bygradient projection and actual rotation angles

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Fig. 9 The relationship between the computing time of thegradient projection algorithm and the initial point’sfitness

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Fig. 10 Iterative process

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Fig. 11 Simulation diagram of position sensing system

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Fig. 12 The comparison of trajectory of desired andtracking with the proposed algorithm

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Fig. 13 3-D FEM of the Halbach array PMSM and theHalbach array magnetization direction

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Fig. 14. Comparison of the magnetic field distributionsobtained by analytical method and FEM method

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Fig. 15 The comparison trajectory of desired and trackingwith the proposed algorithm

Table 1. Performance of proposed algorithm

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Table 2. Structure specifications of PMSM

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Acknowledgement

Supported by : National Natural Science Foundation of China

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