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Estimation of magnet separation for magnetic suspension applications

Parfitt, M. (2013) Estimation of magnet separation for magnetic suspension applications. PhD thesis, University of Reading

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Abstract/Summary

This thesis describes a form of non-contact measurement using two dimensional hall effect sensing to resolve the location of a moving magnet which is part of a ‘magnetic spring’ type suspension system. This work was inspired by the field of Space Robotics, which currently relies on solid link suspension techniques for rover stability. This thesis details the design, development and testing of a novel magnetic suspension system with a possible application in space and terrestrial based robotics, especially when the robot needs to traverse rough terrain. A number of algorithms were developed, to utilize experimental data from testing, that can approximate the separation between magnets in the suspension module through observation of the magnetic fields. Experimental hardware was also developed to demonstrate how two dimensional hall effect sensor arrays could provide accurate feedback, with respects to the magnetic suspension modules operation, so that future work can include the sensor array in a real-time control system to produce dynamic ride control for space robots. The research performed has proven that two dimensional hall effect sensing with respects to magnetic suspension is accurate, effective and suitable for future testing.

Item Type:Thesis (PhD)
Thesis Supervisor:Harwin, W.
Thesis/Report Department:School of Systems Engineering
Identification Number/DOI:
Divisions:Faculty of Life Sciences > School of Biological Sciences > Department of Bio-Engineering
Faculty of Science > School of the Built Environment > Construction Management and Engineering > Digital Practices
ID Code:36656
Uncontrolled Keywords:Magnetic, Suspension, Hall Effect, Sensing, Algorithms, Computer Science
Date on Title Page:March 2013

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