Self-Calibrating Position Measurements: Applied to Imperfect Hall Sensors
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arXiv
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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915276137693184 |
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| author | van Meer, Max van Noije, Marijn Tiels, Koen Evers, Enzo Blanken, Lennart Witvoet, Gert Oomen, Tom |
| author_facet | van Meer, Max van Noije, Marijn Tiels, Koen Evers, Enzo Blanken, Lennart Witvoet, Gert Oomen, Tom |
| contents | Linear Hall sensors are a cost-effective alternative to optical encoders for measuring the rotor positions of actuators, with the main challenge being that they exhibit position-dependent inaccuracies resulting from manufacturing tolerances. This paper develops a data-driven calibration procedure for linear analog Hall sensors that enables accurate online estimates of the rotor angle without requiring expensive external encoders. The approach combines closed-loop data collection with nonlinear identification to obtain an accurate model of the sensor inaccuracies, which is subsequently used for online compensation. Simulation results show that when the flux density model structure is known, measurement errors are reduced to the sensor noise floor, and experiments on an industrial setup demonstrate a factor of 2.6 reduction in the root-mean-square measurement error. These results confirm that Hall sensor inaccuracies can be calibrated even when no external encoder is available, improving their practical applicability. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_04245 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Self-Calibrating Position Measurements: Applied to Imperfect Hall Sensors van Meer, Max van Noije, Marijn Tiels, Koen Evers, Enzo Blanken, Lennart Witvoet, Gert Oomen, Tom Systems and Control Linear Hall sensors are a cost-effective alternative to optical encoders for measuring the rotor positions of actuators, with the main challenge being that they exhibit position-dependent inaccuracies resulting from manufacturing tolerances. This paper develops a data-driven calibration procedure for linear analog Hall sensors that enables accurate online estimates of the rotor angle without requiring expensive external encoders. The approach combines closed-loop data collection with nonlinear identification to obtain an accurate model of the sensor inaccuracies, which is subsequently used for online compensation. Simulation results show that when the flux density model structure is known, measurement errors are reduced to the sensor noise floor, and experiments on an industrial setup demonstrate a factor of 2.6 reduction in the root-mean-square measurement error. These results confirm that Hall sensor inaccuracies can be calibrated even when no external encoder is available, improving their practical applicability. |
| title | Self-Calibrating Position Measurements: Applied to Imperfect Hall Sensors |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2505.04245 |