Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials

doi:10.1109/JSEN.2022.3173037

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials
	Wang, Heng 3; Wang, Shuangyi 2; Rajamani, Rajesh 1
刊名	IEEE SENSORS JOURNAL
	2022-06-15
卷号	22 期号:12 页码:11626-11636
关键词	Sensors Magnetic sensors Robot sensing systems Magnetic field measurement Electromagnets Estimation Magnetic separation Angular position sensing position estimation high-magnetic-permeabilitymaterial disturbance rejection
ISSN号	1530-437X
DOI	10.1109/JSEN.2022.3173037
通讯作者	Wang, Heng(wanghengscut@scut.edu.cn)
英文摘要	In this paper, a new electromagnetic angular position sensing method using high-magnetic-permeability metal (e.g., mu-metal) is proposed for measurement of joint angles of rotational mechanisms. An electromagnet and magnetic sensors are both located on one mechanical part and the mu-metal element is located on the other mechanical part with relative rotation to the first part around the joint. The mu-metal with high magnetic permeability is easily magnetized by the electromagnet and it exerts an additional magnetic field on the magnetic sensors dependent on the rotation angle nonlinearly. This influence is utilized for angle estimation using an extended Kalman filter. Two configurations of the angle sensing system are designed and modeled using numerical simulation. Experimental results show that the angle measurement error for both configurations is under 1% over their respective sensing range. The mu-metal based angle sensing system is also validated to be immune to ferromagnetic disturbances due to the use of an alternating magnetic field. The proposed angle sensing method is non-contacting and non-intrusive, and its off-joint configuration can measure joint angle without needing to be installed in the joint.
资助项目	University of Minnesota through the Doctoral Dissertation Fellowship - Case New Holland Corporation ; National Natural Science Foundation of China[62003339]
WOS关键词	ANGLE ESTIMATION ; SENSORS ; ENCODER
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000811704400048
资助机构	University of Minnesota through the Doctoral Dissertation Fellowship - Case New Holland Corporation ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/49228]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Wang, Heng
作者单位	1.Univ Minnesota, Dept Mech Engn, Minneapolis, MN 55455 USA 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.South China Univ Technol, Shien Ming Wu Sch Intelligent Engn, Guangzhou 511442, Peoples R China
推荐引用方式 GB/T 7714	Wang, Heng,Wang, Shuangyi,Rajamani, Rajesh. Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials[J]. IEEE SENSORS JOURNAL,2022,22(12):11626-11636.
APA	Wang, Heng,Wang, Shuangyi,&Rajamani, Rajesh.(2022).Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials.IEEE SENSORS JOURNAL,22(12),11626-11636.
MLA	Wang, Heng,et al."Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials".IEEE SENSORS JOURNAL 22.12(2022):11626-11636.