Identification of Rotor Position of Permanent Magnet Spherical Motor Based on Compressed Sensing

The accurate identification of the rotor position of permanent magnet spherical motor (PMSM) is crucial to its closed-loop control. A novel method for rotor position identification of the PMSM based on compressive sensing is proposed, which can obtain accurate rotor position by a limited number of Hall sensors. Firstly, the paper designs a Hall sensor array based on the distribution characteristics of the rotor magnetic and the frequency domain characteristics of the air gap magnetic field, combined with the Fibonacci sequence. Then, an observation matrix construction method is proposed, used for compressed sensing of the radial magnetic field strength information in air gap. Finally, the position of the spherical rotor is identified according to the reconstructed information based on the sensor output value. The identification method is verified by experiments, which shows that the identification accuracy is about 1 degree.