Key Technology Research On Position Of Detection Method For DC Permanent Magnet Spherical Motor

In recent years, the researches on the detection method for DC permanent magnet spherical motor have attached a wide attention, with causes resting with its particular spherical structure which can be positioned in any spatial point. Presently, the spherical motor shows its nonreplaceable functions in the high-accuracy situations of the multi-dimension spaces such as sphere joint of robot, high-accuracy micro-operation, infrared and laser tracing and so forth. The position detection of the spherical motor rotors, as an indispensable feedback control link, must be resolved satisfactorily, and its resolution can affect the control accuracy of the system directly and play an important role in the control system of the motor. Therefore, the position detection technology covers important and key contents for researches on the spherical motors at present.A new DC permanent magnet spherical motor structure was designed and its three-dimension simulation model was established in this paper, besides, based on the analysis on the detection methods for spherical motor rotors at home and abroad presently and aiming at the problem that there is an excessive contact friction force between stator and rotor during current research and manufacturing of spherical motors and it is difficult to realize the real-time and accuracy of the rotors during three-dimension position detection, a detection method for3D pose by3-DOF passive sphere joint was produced in this paper. Through establishment of dual-axis tilt sensor and rotary encoder on the sphere joint, the method aims to collect the movement deflection information, analyze and calculate the movement deflection information collected through the characteristics of the spherical motor itself so as to figure out the coordinates of the rotor positions.Because there are many undetermined factors of the spherical motor itself, such as high real-time movement, diversified directions and so on, the system requires high accuracy and velocity.Based on the simulation researches on the detection principles and inspection strategies and starting from the whole structure of the hardware system, this paper represented the design of a hardware system of DC permanent magnetic spherical motor cored on the digital signal processor TMS320LF2407DSP and the brief introduction to the smallest system of TMS320LF2407DSP and its power circuit, dual-axis tilt sensor circuit, external circuit of rotary encoder, display circuit and so on.The main program, interruptive service subprogram and control algorithm were designed and explained respectively on the basis of the platform of CCS3.3(Code Composer Studio3.3) and the thought of position detection on the DC permanent spherical motor.In conclusion, based on the upper computer program software and MATLAB compiled, which were utilized to carry out a series of simulation commissioning, the integral commissioning and testing were conducted for the position detection software and hardware system of the spherical motor rotor cored on DSP. The simulation results showed that the system can be used to detect the positions of the spherical motor rotors effectively.