Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials

doi:10.1109/JSEN.2022.3173037

	Electromagnetic Angular Position Sensing Using High-Magnetic-Permeability Materials
	Wang, Heng 1; Wang, Shuangyi2 ; Rajamani, Rajesh 3
发表期刊	IEEE SENSORS JOURNAL
ISSN	1530-437X
	2022-06-15
卷号	22 期号:12 页码:11626-11636
通讯作者	Wang, Heng(wanghengscut@scut.edu.cn)
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.
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
DOI	10.1109/JSEN.2022.3173037
关键词[WOS]	ANGLE ESTIMATION ; SENSORS ; ENCODER
收录类别	SCI
语种	英语
资助项目	University of Minnesota through the Doctoral Dissertation Fellowship - Case New Holland Corporation ; National Natural Science Foundation of China[62003339]
项目资助者	University of Minnesota through the Doctoral Dissertation Fellowship - Case New Holland Corporation ; National Natural Science Foundation of China
WOS研究方向	Engineering ; Instruments & Instrumentation ; Physics
WOS类目	Engineering, Electrical & Electronic ; Instruments & Instrumentation ; Physics, Applied
WOS记录号	WOS:000811704400048
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/49229
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wang, Heng
作者单位	1.South China Univ Technol, Shien Ming Wu Sch Intelligent Engn, Guangzhou 511442, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Minnesota, Dept Mech Engn, Minneapolis, MN 55455 USA
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.