Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method
Permanent magnet spherical motors (PMSpMs) are new special motors with multiple degrees of freedom capability in a limited space. This paper proposes a heterogeneous sensor-based rotor attitude detection (RAD) approach for the PMSpM using the distributed Kalman filtering method. An industrial camera...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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AIP Publishing LLC
2025-01-01
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| Series: | AIP Advances |
| Online Access: | http://dx.doi.org/10.1063/5.0249913 |
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| author | Sili Zhou Guoli Li Qunjing Wang Jiahu Guo Yuanyuan Jiang Jiazi Xu |
| author_facet | Sili Zhou Guoli Li Qunjing Wang Jiahu Guo Yuanyuan Jiang Jiazi Xu |
| author_sort | Sili Zhou |
| collection | DOAJ |
| description | Permanent magnet spherical motors (PMSpMs) are new special motors with multiple degrees of freedom capability in a limited space. This paper proposes a heterogeneous sensor-based rotor attitude detection (RAD) approach for the PMSpM using the distributed Kalman filtering method. An industrial camera is used to detect the rotor attitude by integrating the Kalman filter (visual method), in order to improve short-time occlusion ability. Meanwhile, a MEMS sensor is introduced to detect the PMSpM rotor attitude simultaneously by using the Kalman filtering method (MEMS method). On the basis of this, the heterogeneous sensor network consists of the camera and the MEMS sensor, and the proposed RAD approach is implemented through the Kalman filtering fusing method. To verify the proposed heterogeneous sensor-based RAD method, the test bench is developed and the one-dimensional and three-dimensional fusing experiments are conducted. The results indicate that the heterogeneous sensor-based RAD method possesses the ability of visual resistance to long-term interference with good accuracy. |
| format | Article |
| id | doaj-art-fb6c5e3ef7e7451c8d3ea46cbe354bc8 |
| institution | Kabale University |
| issn | 2158-3226 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | AIP Publishing LLC |
| record_format | Article |
| series | AIP Advances |
| spelling | doaj-art-fb6c5e3ef7e7451c8d3ea46cbe354bc82025-02-03T16:40:42ZengAIP Publishing LLCAIP Advances2158-32262025-01-01151015033015033-810.1063/5.0249913Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering methodSili Zhou0Guoli Li1Qunjing Wang2Jiahu Guo3Yuanyuan Jiang4Jiazi Xu5School of Electrical and Information Engineering, Anhui University of Science and Technology, Huainan 232001, ChinaNational Engineering Laboratory of Energy-Saving Motor and Control Technology, Anhui University, Hefei 230601, ChinaNational Engineering Laboratory of Energy-Saving Motor and Control Technology, Anhui University, Hefei 230601, ChinaSchool of Electrical and Information Engineering, Anhui University of Science and Technology, Huainan 232001, ChinaSchool of Electrical and Information Engineering, Anhui University of Science and Technology, Huainan 232001, ChinaNational Engineering Laboratory of Energy-Saving Motor and Control Technology, Anhui University, Hefei 230601, ChinaPermanent magnet spherical motors (PMSpMs) are new special motors with multiple degrees of freedom capability in a limited space. This paper proposes a heterogeneous sensor-based rotor attitude detection (RAD) approach for the PMSpM using the distributed Kalman filtering method. An industrial camera is used to detect the rotor attitude by integrating the Kalman filter (visual method), in order to improve short-time occlusion ability. Meanwhile, a MEMS sensor is introduced to detect the PMSpM rotor attitude simultaneously by using the Kalman filtering method (MEMS method). On the basis of this, the heterogeneous sensor network consists of the camera and the MEMS sensor, and the proposed RAD approach is implemented through the Kalman filtering fusing method. To verify the proposed heterogeneous sensor-based RAD method, the test bench is developed and the one-dimensional and three-dimensional fusing experiments are conducted. The results indicate that the heterogeneous sensor-based RAD method possesses the ability of visual resistance to long-term interference with good accuracy.http://dx.doi.org/10.1063/5.0249913 |
| spellingShingle | Sili Zhou Guoli Li Qunjing Wang Jiahu Guo Yuanyuan Jiang Jiazi Xu Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method AIP Advances |
| title | Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method |
| title_full | Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method |
| title_fullStr | Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method |
| title_full_unstemmed | Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method |
| title_short | Heterogeneous sensor-based rotor attitude detection for a spherical motor using distributed Kalman filtering method |
| title_sort | heterogeneous sensor based rotor attitude detection for a spherical motor using distributed kalman filtering method |
| url | http://dx.doi.org/10.1063/5.0249913 |
| work_keys_str_mv | AT silizhou heterogeneoussensorbasedrotorattitudedetectionforasphericalmotorusingdistributedkalmanfilteringmethod AT guolili heterogeneoussensorbasedrotorattitudedetectionforasphericalmotorusingdistributedkalmanfilteringmethod AT qunjingwang heterogeneoussensorbasedrotorattitudedetectionforasphericalmotorusingdistributedkalmanfilteringmethod AT jiahuguo heterogeneoussensorbasedrotorattitudedetectionforasphericalmotorusingdistributedkalmanfilteringmethod AT yuanyuanjiang heterogeneoussensorbasedrotorattitudedetectionforasphericalmotorusingdistributedkalmanfilteringmethod AT jiazixu heterogeneoussensorbasedrotorattitudedetectionforasphericalmotorusingdistributedkalmanfilteringmethod |