Magnetic Position Estimation in Ferromagnetic Systems Involving Significant Hysteresis
Magnetic Position Estimation in Ferromagnetic Systems Involving Significant Hysteresis
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DOI：
10.1109/tmech.2018.2843299
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发表时间：
2018-05
期刊：
影响因子：
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通讯作者：
Ryan Madson;R. Rajamani
中科院分区：
文献类型：
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作者：
Ryan Madson;R. Rajamani
在许多涉及小范围运动的应用中，磁性传感器与磁铁的接近性已被用于位置测量。然而，当应用涉及铁磁环境和更大的运动范围时，这种位置测量变得具有挑战性。磁体的运动使铁磁环境磁化和退磁，并在磁场与位置的关系中产生显著的磁滞。这种关系不能再用代数数学函数来表示，需要考虑以前运动的历史来计算磁场测量的位置。本文提出了一种利用多种模型来表示迟滞行为的位置估计系统，包括交互多模型方法、Preisach模型和改进Preisach模型。以某大型移动工程车辆液压作动器为例，对所开发的位置估计系统进行了评估。实验结果表明，采用改进的Preisach迟滞模型的无气味卡尔曼滤波器，尽管存在明显的迟滞，但仍能提供精度优于行程2%的位置估计。
The proximity of a magnetic sensor to a magnet has been utilized for position measurement in many applications involving small ranges of motion. However, such position measurement becomes challenging when the application involves a ferromagnetic environment and larger ranges of motion. The movement of a magnet magnetizes and demagnetizes the ferromagnetic surroundings and creates significant hysteresis in the magnetic field versus position relationship. This relationship can no longer be represented by an algebraic mathematical function and needs to take the history of previous motions into consideration for calculation of position from magnetic field measurement. This paper presents a position estimation system that utilizes various models to represent the hysteresis behavior, including an interacting multiple model approach, a Preisach model, and a modified Preisach model. The developed position estimation system is evaluated on a large hydraulic actuator used in mobile construction vehicle applications. Experimental results show that an unscented Kalman filter using the modified Preisach hysteresis model can provide a position estimate with an accuracy better than 2% of stroke, in spite of significant hysteresis.