李洪凤 ,柏恩潮 ,陈 旭 ,李 斌
AuthorsHTML:李洪凤 ¹ ，柏恩潮 ¹ ，陈 旭 ² ，李 斌 ¹
AuthorsListE:Li Hongfeng ,Bai Enchao ,Chen Xu ,Li Bin
AuthorsHTMLE:Li Hongfeng¹ ，Bai Enchao¹ ，Chen Xu² ，Li Bin¹
Unit:1. 天津大学电气自动化与信息工程学院，天津 300072；
2. 北京四方继保自动化股份有限公司，北京 100085

Unit_EngLish:1. School of Electrical and Information Engineering，Tianjin University，Tianjin 300072，China；
2. Beijing Sifang Automation Co.，Ltd.，Beijing 100085，China

Abstract_Chinese:为了实现永磁球形电机的三自由度运动，需要对其转子球面空间进行辨识．本文在分析转子磁场分布特点 的情况下，在定子 φ＝45°、90°和 135°的 3 条纬度线上均匀放置了 13 个线性霍尔传感器，根据传感器的放置位置将 定子球面分成了 12 个区间．当转子绕坐标轴旋转时，通过线性霍尔传感器阵列检测转子表面的径向磁场值并且按 照设定的阈值将传感器阵列的输出数据转换为二进制编码．文中分别分析了转子在滚转、俯仰和偏航 3 种运动状态 下各个位置所对应的编码信号以及磁场值的绝对值情况，同时进一步推广到转子任意姿态的区间辨识．最后，通过 实验分别得到转子在不同姿态下传感器阵列的输出情况，实验中得到的编码信号与磁场值的绝对值结果与理论分析 结果相一致，表明文中所提出的转子区间辨识理论的有效性．
Abstract_English:To realize the three-degree-of-freedom movement of permanent magnet spherical motors，the spherical space of the rotors needs to be identified. In this paper，13 linear Hall sensors are placed uniformly around a stator at three lines of latitude，φ＝45°，90°，and 135°. This divides the sphere into 12 intervals for analysis of the rotor’s magnetic field distribution. As the rotor rotates around the coordinate axis，the linear Hall sensors detect the radial magnetic field values on the rotor surface and convert the sensors output data to binary codes according to a set threshold. The absolute values of the coded signals and magnetic field values correspond to each position of the rotor in three states of motion：roll，pitch，and yaw. These are analyzed separately and further extended for identifying the intervals of arbitrary rotor attitudes. Finally，the outputs of a series of sensors for the rotor at different attitudes are obtained through experiments. The results for the absolute values of the coded signals and the magnetic field values obtained in the experiments are consistent with the theoretical analysis，indicating the validity of the rotor interval discrimination theory proposed in this paper.
Keyword_Chinese:永磁球形电机；转子姿态；区间辨识；霍尔传感器
Keywords_English:permanent magnet spherical motor；rotor attitude；interval identification；Hall sensor

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