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Position Extraction of Ultralow-Speed Gimbal Servo System With linear hall sensors

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第3期69卷 2947-2955页

作者： Shi, Yangyang Li, Haitao Han, Bangcheng Beihang Univ Sch Instrumentat & Optoelect Engn Beijing 100191 Peoples R China Beihang Univ BUAA Ningbo Inst Technol Ningbo 315800 Peoples R China Beihang Univ Beijing 100191 Peoples R China

This article explores a novel composite signal extraction method to extract high-precision angular position from the signals detected by hall sensors in the gimbal servo system of single-gimbal magnetically suspended control moment gyro (SGMSCMG). Due to magnetic field distortion and other factors, the detected signals involve lots of harmonics and unequal amplitude, which decrease the position resolution accuracy significantly. In the proposed method, normalization is first performed to obtain signals with equal amplitude. Then, on the basis of offline analysis, the signal reconstructed model is established to suppress the most harmonics. Finally, the errors of the models and unmodeled noise are restrained by applying the discrete extended state observer (ESO). Simulated results show that the influence of harmonics and unequal amplitude on the angular position can be almost attenuated by the proposed method. Besides, plentiful experiments on an SGMSCMG demonstrate the validity of the proposed method, and the desired angular position of the ultralow speed servo system can be extracted effectively.

关键词： Harmonic analysis sensors Servomotors Magnetic sensors Signal resolution sensor systems Data mining Extended state observer (ESO) linear hall sensor single-gimbal magnetically suspended control moment gyro (SGMSCMG) signal extraction method (SEM) ultralow speed

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Position Estimation for Ultra-Low Speed Gimbal Servo System of SGMSCMG Based on linear hall sensors

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IEEE sensorS JOURNAL 2020年第20期20卷 12174-12183页

作者： Han, Bangcheng Shi, Yangyang Li, Haitao Beihang Univ BUAA Sch Instrumentat Sci & Optoelect Engn Beijing 100191 Peoples R China Beihang Univ BUAA Ningbo Inst Technol Ningbo 315800 Peoples R China

In the low speed servo system of single gimbal magnetically suspended control moment gyro (SGMSCMG), the accuracy of rotor position is an important factor which influences the speed accuracy. linear hall sensors with small volume and high precision are usually adopted to the compact equipment and suitable for SGMSCMG. However, the signals detected by hall sensors contain lots of harmonics and noise which influence the accuracy significantly. For this reason, a novel precise position detection method based on 2-step cascaded Kalman filter with phase compensation scheme is proposed to extract the precise position information from 'dirty' signals. The proposed method is advantageous since it is very simple and practical, and the phase compensation scheme can primely compensate the phase delay caused by cascaded Kalman filter. Finally, the experiments are carried out in a 50Nm SGMSCMG, and the results show that the method can effectively estimate the angular position of the ultra-low speed servo motor, and the position accuracy can be improved by 85.7%.

关键词： Harmonic analysis Servomotors Rotors Permanent magnet motors Magnetic sensors Stators SGMSCMG ultra-low speed linear hall sensor angular position cascade Kalman filter phase compensation

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DBCS-SMJF: Designing a BLDCM Control System for Small Machine Joints Using FOC 19th

DBCS-SMJF: Designing a BLDCM Control System for Small Machin...

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19th International Conference on Advanced Intelligent Computing Technology and Applications (ICIC)

作者： Zhang, Leyi Long, Yingjie Hu, Yingbiao Li, Huinian Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China South China Normal Univ Sch Comp Sci Guangzhou 510631 Peoples R China Macao Polytech Univ Fac Appl Sci Macau 999078 Peoples R China Macao Univ Sci & Technol Sch Comp Sci & Engn Macau 999078 Peoples R China

ISBN: (纸本)9789819947607;9789819947614

This paper proposes a new motor field-oriented control scheme for robot joint control that utilizes linear hall position sensors. The proposed position sensor can obtain rotor position information of the motor with high precision and low cost, overcoming the limitations of traditional motor control systems that use expensive and bulky encoders. The proposed plan includes a hall sensor module, an electromagnetic detection module, a motor drive module, and a motor. It has been tested and verified using Ansys magnetic field simulation. The proposed system can improve the accuracy and stability of robot joint control while reducing costs compared to traditional motor Field-Oriented Control (FOC) systems. Using linear hall position sensors can make the system more compact and lightweight. Future work may focus on further optimizing and refining the design for real-world applications.

关键词： SVPWM FOC linear hall sensor Motor PI Controller MCU

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UMLP-IFOCS: Using Multi-Layer Perceptron for Intelligent Field Oriented Control System

UMLP-IFOCS: Using Multi-Layer Perceptron for Intelligent Fie...

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International Joint Conference on Neural Networks (IJCNN)

作者： Long, Yingjie Hu, Yingbiao Zhang, Leyi Li, Huinian South China Normal Univ Sch Comp Sci Guangzhou Peoples R China Nanjing Univ Sci & Technol Sch Mech Engn Nanjing Peoples R China Guangdong Univ Technol Sch Automat Guangzhou Peoples R China Macau Univ Sci & Technol Sch Comp Sci & Engn Macau Peoples R China

ISBN: (纸本)9781665488679

Recently, a motor vector control system has been a hot spot for robot control. Whether it is a UAV or a household robot, the accuracy of motor vector control is becoming increasingly important. The traditional motor magnetic field vector control system (FOC) has some limitations. In the small brushless motor control system, the non-encoder type position sensor has a specific nonlinearity. At the same time, in the FOC control system, the PI controller in the FOC is also difficult to solve the nonlinear problem of the control system. Artificial intelligence is developing rapidly, and we can solve nonlinear problems through neural networks. Therefore, this problem presents an intelligent motor magnetic field vector control system (IFOC) based on MLP. Firstly, we design a new position sensor structure. Then, after obtaining the data of the linear position sensor, we use MLP to solve the nonlinear problem of the sensor. With the precise position sensor, we can transform from the static coordinate system to the rotating coordinate system (The dp coordinate system) through the Clarke-Park transformation and then introduce MLP to replace the original PI controller. Finally, we built an experimental platform to verify the feasibility of the IFOC control system.

关键词： IFOC Multi-Layer Perception Motor BLDCM linear hall sensor Clarke-Park

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An Improved Position Detection Method for Permanent Magnet linear Motor Using linear hall sensors 20

An Improved Position Detection Method for Permanent Magnet L...

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20th IEEE International Conference on Electrical Machines and Systems (ICEMS)

作者： Yan, Leyang Ye, Peiqing Zhang, Chunlei Zhang, Hui Tsinghua Univ Dept Mech Engn Beijing Peoples R China

ISBN: (纸本)9781538632468

Two linear hall sensors are utilized to detect the mover position of permanent magnet linear motor (PMLM) in this paper. To eliminate the harmonics of the sensor signals, suboptimal multiple fading Kalman filter (SMFEKF) is utilized to estimate the mover position. The third-order harmonic is considered into the observation model of SMFEKF, and high-order harmonics are considered as measurement noise. Compared with traditional EKF, SMFEKF shows higher robustness against model parameter mismatch. Experimental results show that the proposed method can completely eliminate the impact of harmonics when the motor is stationary and significantly improve the accuracy when the motor is running.

关键词： Permanent Magnet linear Motor (PMLM) linear hall sensor Extended Kalman filter (EKF) Suboptimal Multiple Fading (SMF)

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Position Estimation Using linear hall sensors for Permanent Magnet linear Motor Systems

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2016年第12期63卷 7644-7652页

作者： Kim, Jonghwa Choi, Seibum Cho, Kwanghyun Nam, Kanghyun Korea Adv Inst Sci & Technol Dept Mech Engn Daejeon 34141 South Korea Samsung Elect Hwaseong Si 445330 South Korea Yeungnam Univ Sch Mech Engn Gyongsan 38541 South Korea

This paper proposes a new scaleless position estimation method. From the industrial perspective, the hall sensor has several advantages: tiny size, light weight, extremely lowcost, and insensitivity to environmental contamination and external disturbance. Compared to the square wave hall sensor, the linear hall sensor provides more detailed information along the position. However, for combining more than two linear hall sensors, the sensor offset, the difference in scale, and the unwanted phase shift between them and the harmonics would decrease the validity and reliability of sensor measurement. The fast Fourier transform and the fixed point iteration method are applied to compensate for those issues without any low-pass filter or additional signal conditioning. The effectiveness of the proposed scheme is verified through a prototype permanent magnet linear synchronous motor system.

关键词： Fast Fourier transform (FFT) fixed point iteration method initial position alignment linear hall sensor Newton method permanent magnet linear motor position estimation scaleless motor system

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An Improved PMSM Rotor Position sensor Based on linear hall sensors

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IEEE TRANSACTIONS ON MAGNETICS 2012年第11期48卷 3591-3594页

作者： Hu, Jianhui Zou, Jibin Xu, Fei Li, Yong Fu, Yanchao Harbin Inst Technol Dept Elect Engn Harbin 150001 Peoples R China

Accurate rotor position is essential for PMSM to execute vector control. The resolver and encoder have been most commonly employed, however, the bulk mass usually limit their further application in the fields of aerospace and robotic joints. This paper presents a PMSM rotor position sensor with minimum components, including linear hall sensors and an optimized permanent magnetic ring which can produce a sinusoidal air-gap magnetic field. The working principle is discussed, and the errors and its compensation are analyzed. Experimental results proved that the presented rotor position sensor has high accuracy and strong anti-temperature drift performance, and the position error can be controlled in desired range by means of Kalman filter (KF) and extended Kalman filter (EKF).

关键词： Error compensation linear hall sensor PMSM rotor position sensor

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Study of a Bidirectional Proportional Electromagnet

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International Conference on Mechatronics and Control Engineering (ICMCE 2012)

作者： Yuan, Yuefang Tao, Guoliang Liu, Hao Ban, Wei Zhejiang Univ State Key Lab Fluid Power Transmiss & Control Hangzhou 310027 Zhejiang Peoples R China

ISBN: (纸本)9783037855959

Aim to fulfill the design requirements of a pneumatic proportional directional valve, a novel bidirectional proportional electromagnet with integrated lineal hall position sensor was proposed. Magnetic circuit model and finite element model were established separately. Both static force vs. armature stroke characteristic and hall sensor output vs. armature position were tested on a newly designed test platform. The experimental result shows a good linear magnetic spring characteristic of the proportional electromagnet, which further ensures a unique spool auto reset capability for directional valves. The mass of the armature is considerably reduced, thus it will benefit the overall performance of high speed pneumatic proportional directional valves.

关键词： Proportional directional valve Proportional electromagnet Finite element analysis linear hall sensor

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Design of a digital servo control IC for permanent magnet synchronous motors with linear hall sensors

Design of a digital servo control IC for permanent magnet sy...

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38th IEEE Power Electronic Specialists Conference (PESC 07)

作者： Chang, Yen-Chuan Tzou, Ying-Yu Natl Chiao Tung Univ Dept Elect & Control Engn Adv Power Elect Ctr Power Elect Syst & Chips Lab Hsinchu Taiwan

ISBN: (纸本)9781424406548

This paper presents the design and architecture implementation of a digital position control IC for permanent magnet synchronous motors (PMSMs) with sinusoidal flux distribution using linear hall sensors for low-cost motion control applications. The absolute rotor position is calculated from the measured hall sensor signals and a speed estimator is devised to generate speed feedback for the servo loop compensator. The developed digital servo control IC for PMSM motors with linear hall sensors consists of three major control blocks: a servo loop controller, a position and speed estimator, and a field-oriented torque controller. The accuracy of positioning control resolution can be improved by a position error compensation table via external position calibration. All the control blocks are realized by using digital circuitry with configurable and reusable intellecture property (IP) blocks. Experiment results are presented to verify the performance and feasibility of the proposed IC.

关键词： digital ac servo IC permanent magnet synchronous motor linear hall sensor position calculator speed estimator position calibration digital torque control

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Monolithic 360 degrees rotary position sensor IC

Monolithic 360 degrees rotary position sensor IC

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IEEE sensors 2004 Conference

作者： Hiligsmann, V Riendeau, P Melexis N.V. Tessenderlo Belgium Melexis Inc. Concord NH United States

ISBN: (纸本)0780386922

Many automotive applications require accurate, reliable, safe, versatile and cost effective position sensors. The X-by-Wire trend and electronic stability programs (ESP) are an illustration of this continuously growing need. The programmable linear hall sensors have strongly contributed to the emergence of the non-contacting rotary position sensors but two major drawbacks limit their spread the thermal performance characteristics and the limited angular stroke. The presented hall sensor IC eliminates those drawbacks while conserving or improving the other advantages of the conventional, programmable linear hall sensor. The sensor front-end is based on the Triaxis hall technology and provides two signals in quadrature (sine and cosine) when a ring magnet rotates above the IC The digitized signals are further processed through a DSP (Digital Signal Processing) core computing the angular information (CoRDiC i.e. arctangent of the signals quotient). The presented sensor is a fully programmable monolithic CMOS IC allowing a versatile and cost effective solution.

关键词： programmable linear hall sensor triaxis CoRDiC 360 degrees rotary position automotive

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