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Article

Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments

Laboratory of Robotics, Universitat de Lleida, Jaume II 69, 25001 Lleida, Spain
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Author to whom correspondence should be addressed.
Academic Editors: Rezia Molfino and Francesco Cepolina
Sensors 2021, 21(14), 4763; https://doi.org/10.3390/s21144763
Received: 14 June 2021 / Revised: 6 July 2021 / Accepted: 9 July 2021 / Published: 12 July 2021
(This article belongs to the Special Issue Sensors for Robotic Applications)
This paper proposes a method to improve the angular velocity measured by a low-cost magnetic rotary encoder attached to a brushed direct current (DC) motor. The low-cost magnetic rotary encoder used in brushed DC motors use to have a small magnetic ring attached to the rotational axis and one or more fixed Hall-effect sensors next to the magnet. Then, the Hall-effect sensors provide digital pulses with a duration and frequency proportional to the angular rotational velocity of the shaft of the encoder. The drawback of this mass produced rotary encoder is that any structural misalignment between the rotating magnetic field and the Hall-effect sensors produces asymmetric pulses that reduces the precision of the estimation of the angular velocity. The hypothesis of this paper is that the information provided by this low-cost magnetic rotary encoder can be processed and improved in order to obtain an accurate and precise estimation of the angular rotational velocity. The methodology proposed has been validated in four compact motorizations obtaining a reduction in the ripple of the estimation of the angular rotational velocity of: 4.93%, 59.43%, 76.49%, and 86.75%. This improvement has the advantage that it does not add time delays and does not increases the overall cost of the rotary encoder. These results showed the real dimension of this structural misalignment problem and the great improvement in precision that can be achieved. View Full-Text
Keywords: hall-effect sensor; low-cost brushed DC motor; misalignment correction hall-effect sensor; low-cost brushed DC motor; misalignment correction
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MDPI and ACS Style

Palacín, J.; Martínez, D. Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments. Sensors 2021, 21, 4763. https://doi.org/10.3390/s21144763

AMA Style

Palacín J, Martínez D. Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments. Sensors. 2021; 21(14):4763. https://doi.org/10.3390/s21144763

Chicago/Turabian Style

Palacín, Jordi, and David Martínez. 2021. "Improving the Angular Velocity Measured with a Low-Cost Magnetic Rotary Encoder Attached to a Brushed DC Motor by Compensating Magnet and Hall-Effect Sensor Misalignments" Sensors 21, no. 14: 4763. https://doi.org/10.3390/s21144763

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