Attitude measurement of multi-DOF actuator based on multiple-inputs and single-output WPT system modeling

Abstract

Abstract Multi-DOF actuators are used in bionics where their flexibility is limited by changing batteries or wired charging methods. In order to realize flexible power supplement and accurate attitude measurement, a multiple-inputs and single-output wireless power transmission (WPT) attitude measurement method is proposed. Traditional contact measurement methods have large friction resistance, and some non-contact measurement methods are complicated in structure or calculation. In order to solve the above problems, the receiving coil is installed inside the rotor. When the rotor rotates, the receiving angle is offset from the multi-transmitting coil outside the stator. The receiving coil can transmit power with multi-angle rotation and has good space tolerance. The rotor position is measured by estimating mutual inductance accurately. This method effectively reduces the time of finite element analysis. Three types of exercise are tested (yaw, spin, and tilt). Compared with micro-electromechanical system and fast complementary filter methods, the average angle error of the proposed WPT method is reduced by 36%, 24% and 40% respectively, and the initial attitude error is about 50% of that of the other two methods. Experiments show that this method can accurately measure the attitude of the rotor of the multi-DOF actuator.