期刊
IEEE SENSORS JOURNAL
卷 22, 期 12, 页码 11626-11636出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2022.3173037
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
资金
- University of Minnesota through the Doctoral Dissertation Fellowship - Case New Holland Corporation
- National Natural Science Foundation of China [62003339]
This paper proposes a new electromagnetic angular position sensing method using high-magnetic-permeability metal, which is non-contacting, non-intrusive, and can achieve accurate angle measurements with immunity to ferromagnetic disturbances.
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.
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