中文摘要：

针对目前在多自由度电机研制中遇到的转子位置检测的精准度和实时性较差的问题,介绍一种具有普遍意义的新型的永磁转子偏转式三自由度电机转子位置检测的方法。为了实现转子在三个方向偏转的检测,提出了一种通过4个霍尔传感器检测转子磁场的非接触式检测方法,并通过建立偶极子模型确定磁体位置和磁场的关系来实现对磁场测量数据的逆向分析求解,最后结合算法对下位机和上位机进行编程,搭建了三自由度电机转子位置检测的实验平台来检测转子位置。通过具体实验数据对比分析可知,该方法有效实现了对转子位置的实时检测,为进一步的研究和实验提供了借鉴和参考。

英文摘要：

For the current problems of accuracy and unsatisfied real-time operation of rotor orientation detection in multi-DOF motor researches, a new method of three-DOF deflection type motor＇s permanent magnet rotor position detection method was introduced with universal significance. To realize the deflection type motion detection of the rotor in three directions, a non-contact detection method to measure the rotor magnetic field through four Hall sensors was presented. By developing the dipole model and determining the relationship between the position of the magnets and magnetic fields, the inverse magnetic field solution and analysis were performed. Finally, by programming on the lower and upper machine combined with the algorithm, an experiment platform for the three-DOF deflection type permanent magnet motor＇s rotor orientation detection was built. From the comparison of detailed experiment data, the presented method can effectively to achieve the real-time detection of the rotor position, which provides a reference for further research and experiments.