Permanent Magnet Mover Position Detection of Halbach Maglev-Planar Motor Based on Hall Sensor Array for Unmanned Handling System

Aiming at the problems of limited stroke, high cost, and low efficiency in the attitude identification of the Maglev planar motor used in the unmanned handling system, a flexible scheme attitude identification method for the mover of permanent magnet moving-type Halbach Maglev planar motor (PMM-HMPM), is proposed by using the 3 degree of freedom (3-DOF) linear Hall sensor array in this paper. Initially, the semi-analytic method is adopted to analyze the three-dimensional Halbach magnetic field to obtain the three-dimensional analytical formula of the magnetic field. According to this three-dimensional analytical expression of the magnetic field, the X-Y position information can be calculated by using the arctangent algorithm in the region with a sine-like and mutually orthogonal two-dimensional magnetic field. Subsequently, the dichotomy method is utilized to calculate the position information in the Z direction, based on it, a 3-DOF linear Hall sensor array is designed to accurately measure the air gap magnetic field to provide the essential support for algorithm implementation. This method enables the PMM-HMPM to achieve a wide range of motion while ensures the reliable accuracy, significantly reduces the detection cost, and eliminates the additional load on mover caused by auxiliary optical components, which can effectively enhance the performance and stability of the unmanned handling system.