{"id":"https://openalex.org/W4417252220","doi":"https://doi.org/10.1109/tie.2025.3613639","title":"Analysis of Radial Force and Noise Considering Hall Effect Sensor Errors in Robot Joint Motors","display_name":"Analysis of Radial Force and Noise Considering Hall Effect Sensor Errors in Robot Joint Motors","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417252220","doi":"https://doi.org/10.1109/tie.2025.3613639"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3613639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3613639","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008692357","display_name":"Qiyue Han","orcid":"https://orcid.org/0009-0000-9198-7776"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiyue Han","raw_affiliation_strings":["School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0009-0000-9198-7776","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073330666","display_name":"Qunjing Wang","orcid":"https://orcid.org/0000-0002-1916-8116"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qunjing Wang","raw_affiliation_strings":["School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-1916-8116","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020172671","display_name":"Kaikai Diao","orcid":"https://orcid.org/0000-0003-2482-7996"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaikai Diao","raw_affiliation_strings":["School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0003-2482-7996","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056177949","display_name":"Wenzhe Deng","orcid":"https://orcid.org/0000-0002-7948-628X"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzhe Deng","raw_affiliation_strings":["School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-7948-628X","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044271991","display_name":"Lize Wu","orcid":"https://orcid.org/0000-0001-6456-281X"},"institutions":[{"id":"https://openalex.org/I143868143","display_name":"Anhui University","ror":"https://ror.org/05th6yx34","country_code":"CN","type":"education","lineage":["https://openalex.org/I143868143"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lijian Wu","raw_affiliation_strings":["School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-6456-281X","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Automation, the National Engineering Laboratory of Energy-Saving Motor and Control Technology, and Anhui Key Laboratory of Industrial Energy-Saving and Safety, Anhui University, Hefei, China","institution_ids":["https://openalex.org/I143868143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5008692357"],"corresponding_institution_ids":["https://openalex.org/I143868143"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37941024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"4","first_page":"6460","last_page":"6471"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10504","display_name":"Sensorless Control of Electric Motors","score":0.5228999853134155,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10504","display_name":"Sensorless Control of Electric Motors","score":0.5228999853134155,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10278","display_name":"Electric Motor Design and Analysis","score":0.17470000684261322,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10220","display_name":"Machine Fault Diagnosis Techniques","score":0.08590000122785568,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/harmonics","display_name":"Harmonics","score":0.7276999950408936},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6460999846458435},{"id":"https://openalex.org/keywords/harmonic","display_name":"Harmonic","score":0.5785999894142151},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5533000230789185},{"id":"https://openalex.org/keywords/harmonic-analysis","display_name":"Harmonic analysis","score":0.5485000014305115},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.5412999987602234},{"id":"https://openalex.org/keywords/hall-effect-sensor","display_name":"Hall effect sensor","score":0.5131000280380249},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.503600001335144},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4571000039577484}],"concepts":[{"id":"https://openalex.org/C188414643","wikidata":"https://www.wikidata.org/wiki/Q3001183","display_name":"Harmonics","level":3,"score":0.7276999950408936},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6460999846458435},{"id":"https://openalex.org/C127934551","wikidata":"https://www.wikidata.org/wiki/Q1148098","display_name":"Harmonic","level":2,"score":0.5785999894142151},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5533000230789185},{"id":"https://openalex.org/C131770355","wikidata":"https://www.wikidata.org/wiki/Q876215","display_name":"Harmonic analysis","level":2,"score":0.5485000014305115},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.5412999987602234},{"id":"https://openalex.org/C107637996","wikidata":"https://www.wikidata.org/wiki/Q1431247","display_name":"Hall effect sensor","level":3,"score":0.5131000280380249},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.503600001335144},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4571000039577484},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.44909998774528503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43140000104904175},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4043999910354614},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.4032000005245209},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.39399999380111694},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3732999861240387},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.37040001153945923},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.3578999936580658},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34529998898506165},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C2909720056","wikidata":"https://www.wikidata.org/wiki/Q11406","display_name":"Electromagnetics","level":2,"score":0.29989999532699585},{"id":"https://openalex.org/C148043351","wikidata":"https://www.wikidata.org/wiki/Q4456944","display_name":"Current (fluid)","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.27410000562667847},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.2718000113964081},{"id":"https://openalex.org/C125470083","wikidata":"https://www.wikidata.org/wiki/Q747288","display_name":"Electromagnetic compatibility","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C74342258","wikidata":"https://www.wikidata.org/wiki/Q2133526","display_name":"Noise generator","level":5,"score":0.2556999921798706},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3613639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3613639","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1542250237","display_name":null,"funder_award_id":"2108085QE230","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G2303312166","display_name":null,"funder_award_id":"52077001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G408269928","display_name":null,"funder_award_id":"52105080","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4593059874","display_name":null,"funder_award_id":"U23A20647","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5705016886","display_name":null,"funder_award_id":"2308085QE182","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1985095488","https://openalex.org/W2462444367","https://openalex.org/W2747160424","https://openalex.org/W2792541292","https://openalex.org/W3160662311","https://openalex.org/W3163175616","https://openalex.org/W4226251045","https://openalex.org/W4285138795","https://openalex.org/W4292387372","https://openalex.org/W4295308306","https://openalex.org/W4312851216","https://openalex.org/W4317892535","https://openalex.org/W4318953217","https://openalex.org/W4323345790","https://openalex.org/W4362683514","https://openalex.org/W4378194990","https://openalex.org/W4380303700","https://openalex.org/W4387682164","https://openalex.org/W4392693685","https://openalex.org/W4393906032","https://openalex.org/W4394805139","https://openalex.org/W4399413256","https://openalex.org/W4400276090","https://openalex.org/W4401328214","https://openalex.org/W4404307179","https://openalex.org/W4405517589"],"related_works":[],"abstract_inverted_index":{"This":[0,44],"study":[1],"systematically":[2],"investigates":[3],"the":[4,13,47,128],"influence":[5,54],"of":[6,19,33],"Hall":[7],"effect":[8],"sensor":[9],"(HES)":[10],"errors":[11,35,53,78,97],"on":[12],"electromagnetic":[14,64,92,123],"forces":[15,65],"and":[16,40,66,90,103,141],"noise":[17,130,139,143],"characteristics":[18],"robotic":[20,146],"joint":[21,147],"motors.":[22],"First,":[23],"an":[24],"analytical":[25],"model":[26,45,61],"is":[27,69],"established":[28],"that":[29,76,121],"correlates":[30],"distinct":[31],"types":[32],"HES":[34],"with":[36],"specific":[37],"position":[38],"signals":[39],"current":[41,67],"harmonic":[42,85],"orders.":[43],"reveals":[46],"underlying":[48],"mechanisms":[49],"by":[50],"which":[51],"these":[52,122],"motor":[55],"performance.":[56],"Second,":[57],"a":[58],"theoretical":[59,135],"relationship":[60],"between":[62],"radial":[63],"harmonics":[68],"formulated.":[70],"Finite":[71],"element":[72],"(FE)":[73],"simulations":[74],"demonstrate":[75],"circumferential":[77],"induce":[79],"(6<italic":[80,100,104],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[81,101,105],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">k</i>":[82,106],"+":[83,107],"3)":[84],"currents,":[86],"generating":[87],"additional":[88],"zero-":[89],"fourth-order":[91],"forces,":[93],"while":[94],"axial":[95],"offset":[96],"introduce":[98],"further":[99],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">k</i>)":[102],"2)":[108],"harmonics,":[109],"resulting":[110],"in":[111,145],"more":[112],"complex":[113],"force":[114,124],"frequency":[115],"components.":[116],"Finally,":[117],"experimental":[118],"validation":[119],"confirms":[120],"variations":[125],"significantly":[126],"affect":[127],"motor\u2019s":[129],"spectrum.":[131],"These":[132],"findings":[133],"provide":[134],"insights":[136],"for":[137],"identifying":[138],"sources":[140],"mitigating":[142],"level":[144],"motors":[148],"through":[149],"dedicated":[150],"error":[151],"compensation":[152],"strategies.":[153]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-11T00:00:00"}