迷宫机器人外置磁编码器最优位置的确定  

Determination of optimal position of external magnetic encoder for labyrinth robot

作　　者：袁臣虎[1] 董佳丽 周佳文 米璐晗 闫园 YUAN Chen-hu;DONG Jia-li;ZHOU Jia-wen;MI Lu-han;YAN Yuan(School of Electrical Engineering,Tiangong University,Tianjin 300387,China)

机构地区：[1]天津工业大学电气工程学院,天津300387

出　　处：《天津工业大学学报》2022年第6期70-75,82,共7页Journal of Tiangong University

基　　金：国家自然科学基金重点资助项目(51337001);国家自然科学基金资助项目(51777136)。

摘　　要：为确定永磁体与磁传感器之间的最优安装间距,通过对磁偶极子的理论分析以及ANSYS有限元仿真确定了永磁体与磁编码器芯片之间最优的安装间距,并对磁编码器硬件电路与增量式PID闭环控制算法设计。结果表明:当永磁体与磁编码器芯片间距为1 mm时,磁感应强度范围为-80~80 mT,以0.2 mm的单位距离依次增加,磁感应强度逐渐减小,符合永磁体360°范围内正余弦曲线规律:在1.18~1.52 mm安装间距内,迷宫机器人电机在不同转速下闭环控制效果良好,可以实现走迷宫过程中的精准位置与速度反馈。In order to determine the optimal installation distance between permanent magnet and magnetic sensor, through the theoretical analysis of the magnetic dipole and ANSYS finite element simulation, the optimal installation distance between the permanent magnet and the magnetic encoder chip is determined, and the magnetic encoder hardware circuit and incremental PID closed-loop control algorithm are designed. The results show that when the distance between the permanent magnet and the magnetic encoder chip is 1 mm, the magnetic flux density range is -80~80 mT, and the magnetic flux density gradually decreases with the unit distance of 0.2 mm, which conforms to the sine-cosine curve of the permanent magnet 360° regularity. Within the installation distance of 1.18-1.52 mm, the closed-loop control effect of the labyrinth robot motor at different speeds is good, and it can realize accurate position and speed feedback in the process of walking the labyrinth.

关 键 词：迷宫机器人 磁编码器 有限元仿真 电机闭环控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]