대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2011년도 제42회 하계학술대회
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- Pages.943-944
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- 2011
이미지 센서를 이용한 영구자석 구형모터의 위치 추정
Position Estimation for the Permanent Magnet Spherical Motor using Optical Image Sensor
- Oh, Ye-Jun (HanYang University) ;
- Lee, Won-Kook (HanYang University) ;
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Lee, Ho-Jun
(HanYang University) ;
- Kang, Dong-Woo (HanYang University) ;
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Won, Sung-Hong
(DongYang Mirae University) ;
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Lee, Ju
(HanYang University)
- 발행 : 2011.07.20
초록
The position of the rotor in a spherical motor is usually measured by encoders. When using a encoder, It is possible to measure the angle in a very high resolution. However it is limited to measure a single-DOF using one encoder. So it is required to use 3 encoders to measure a 3-DOF. In order to connect the encoder and the motor, an additional mechanic linkages. Because of these reasons, it is difficult to apply it in various systems. Where the friction and inertia is increased when operating the motor. It could cause a negative effect in dynamic characteristic. In this paper present dual-image sensing system capable of measuring 3-DOF motions in real time eliminating the mechanical linkages. In addition we offer methods of converting sensors outputs to rotation angle which is used in the controller.
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