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Research on position detection of spherical motor based on magnetic field measurement

A detection system for measuring the position of spherical motor is designed. A cylindrical permanent magnetic resource is placed on the rotating shaft and rotates around the detection area. The magnetic field of the detection point caused by the magnetic resource is analyzed using distributed multipole modeling method. An algorithm for solving the position of the spherical motor by utilizing the magnetic field parameters obtained from three-axis hall sensors is proposed. The method is validated by simulation. The results show that the method can meet the need of the position detection. The paper lays a foundation for closed loop control of spherical motor.