Hall-Effect-Sensor-Based Simultaneous Translational and Rotational Position Sensing System

This paper presents a novel Hall sensor–based methodology capable of simultaneously measuring rotary and translational positions for magnetic levitation systems and robotic joints. The sensing structure employs twelve low-cost Hall-effect sensors, arranged as four sets of three-phase sensors, to measure the radial magnetic flux generated by permanent magnets mounted on the moving part. By strategically placing the sensors in radial symmetry, differential information among the sensor sets is utilized to extract bothx–ytranslational displacements and the rotary angleθr. The proposed algorithm estimates positions using only simple addition and multiplication operations, with minimal signal filtering applied solely for noise suppression, resulting in nearly negligible phase delay. Using zero-sequence components derived from Clarke transformation, the method enables fast and accurate estimation of all three position components. The fabricated prototype achieves a rotary range of 0 to 2π and a translational range of ±3 mm along bothx- andy-axes, while maintaining a compact and low-cost configuration suitable for integrated multi-axis position sensing.