Attitude Detection Of Spherical Motor Based On MEMS Device

Permanent magnet spherical motor is a new type of special motor,which adopts spherical rotor structure,which can accomplish three-dimensional multiple freedom movement,and has the advantages of light weight,compact volume,simple control module and so on,and has a bright future.However,in the field of spherical motor control,position detection is still an important factor restricting its rapid development.The precision of the spherical motor is closely related to the accuracy of the attitude detection,and the attitude detection is an indispensable part to realize the closed-loop control.This paper analyzes and studies the development status and trend of multi-DOF spherical motor pose detection method,according to a kind of permanent magnet spherical motor prototype structure and the movement characteristic,proposed uses the MEMS(Microelectromechanical system)device.The practicality of the position and posture detection is verified by the motion experiment of permanent magnet spherical motor.The main research work of this paper is as follows:(1)According to the structure and motion characteristics of a new type permanent magnet spherical motor,a three-dimensional space coordinate system is established and the mathematical transformation relation between coordinate system is analyzed.The principle of rotor attitude detection and matrix updating algorithm for spherical motor are studied.(2)Select MEMS gyroscope sensor,Bluetooth wireless transmitting module and data signal transmission protocol,the hardware system of attitude detection for spherical motor is designed.(3)The error types of the attitude detection system of spherical motor are analyzed,and the compensation method of static error and axial angle installation error is put forward.The experimental platform is set up,and the detection accuracy and error are analyzed by the comparison experiments,and the practicability of the attitude detection method is validated.