| Title |
A Study on AHRS Position Sensing Accuracy for Control of the Traction Spherical Motor |
| Authors |
김재혁(Jae-Hyeok Kim) ; 김미정(Mi-Jeong Kim) ; 문주형(Ju-Hyeong Moon) ; 강동우(Dong-Woo Kang) |
| DOI |
https://doi.org/10.5370/KIEEP.2020.69.4.225 |
| Keywords |
AHRS; Attitude Control; Euler Angle; Quaternion; Traction Spherical Motor |
| Abstract |
In this paper, we study the estimation of the tilting angle of a spherical motor using AHRS (Attitude Heading Reference System) for the attitude control of a spherical motor used for vehicle traction. In the experiment, a double-gap spherical motor is used and the tilting angle of the outer rotor is measured with AHRS. The accuracy of the tilting angle is compared with the absolute value using a specially manufactured jig and the measured value of AHRS. In addition, by comparing and analyzing the calculated value of the tilting angle using the laser sensor and the measured value of AHRS, the applicability of the AHRS is used to control the attitude of a spherical motor for traction is reviewed. |