Rotor orientation detection method of spherical motor based on single 2-DOF optical sensor

The measurement of the spherical motor rotor position is an important part of the motor control system. In this paper, the 3-DOF spherical motor rotor position is measured with only single 2-DOF optical sensor. The orientation detection model is built, the measuring method is reviewed. After the detection method is simulated, the results of rotation angles are obtained and being transformed into Euler angles. Last, the static characteristics of the orientation detection model are analyzed.