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基于线性霍尔的微小型机器人关节电机位置传感器

发表时间:2015-11-30  浏览量:1656  下载量:852
全部作者: 付彦超,胡建辉
作者单位: 哈尔滨工业大学电气工程及自动化学院
摘 要: 设计了一种集成线性霍尔元件和永磁体磁环的永磁电机转子位置传感器。通过合理选择永磁体磁环的极 对数和磁钢形状得到正弦分布的气隙磁场,使用两对线性霍尔元件检测该正弦磁场,每对线性霍尔元件的输 出信号合成一路与永磁电机转子位置相关的信号,补偿了单个线性霍尔元件输出信号的误差。采用数字信号 处理(digital signal processing,DSP)对补偿误差后的霍尔输出信号进行解码,得到永磁电机的转子位置信号。 实验结果表明,这种传感器可以获得较高精度的转子位置信号,在机器人关节电机中完全可以取代旋转变压器、 光电编码器等传统位置传感器,实现机器人关节伺服驱动系统的小型化、轻型化和集成化。
关 键 词: 电机学;机器人关节;永磁电机;转子位置检测;线性霍尔元件
Title: Small size robotic joints motor’s position sensor based on linear Hall
Author: FU Yanchao, HU Jianhui
Organization: School of Electrical Engineering & Automation, Harbin Institute of Technology
Abstract: It presents a permanent magnet motor’s rotor position sensor which integrates linear Hall sensors and a specific permanent magnet ring. The principle is that the sinusoidal magnetic field can be obtained by choosing the right number of pole-pairs and optimizing the shape of magnets reasonably. The sinusoidal magnetic field is detected by two pairs of linear Hall sensors and the output signals of each pair of linear Hall sensors are composited into one signal which is related to the permanent magnet motor’s rotor position in order to compensate the signal errors of one single linear Hall sensor. The signal of rotor position will finally be gained through processing the compensated signal properly by the digital signal processing (DSP). Experimental results show that the new structure sensor can obtain comparative high accuracy of rotor position, the traditional rotor position sensors such as resolvers and photoelectric encoders can be replaced completely in the field of robotic joints, and thus it is easy for the motor of robotic joints to be miniaturization, lightweight and integration.
Key words: electromechanics; robotic joints; permanent magnet motor; detection of rotor position; linear Hall components
发表期数: 2015年11月第22期
引用格式: 付彦超,胡建辉. 基于线性霍尔的微小型机器人关节电机位置传感器[J]. 中国科技论文在线精品论文,2015,8(22):2386-2392.
 
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