Study on Intelligent Control of Servo Systems Using Particle-Type ER Fluid

颗粒型电流变液伺服系统智能控制研究

基本信息

批准号：
11450095
负责人：
FURUSHO Junji
金额：
$ 8.38万
依托单位：
Osaka University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2001
项目状态：
已结题

项目摘要

An electro-rheological (ER) fluid is a substance that can change its apparent viscosity by the application of an electric field. We studied the development of new intelligent servo systems using ER fluid as in the following.(1) The elasticity of the drive systems in mechatronics servomechanisin cannot be ignored when the high-speed and precise motion control is required. Due to the elasticity of the drive systems, the viratory behaviors are caused, and the control performances of mechatronics systems are deteriorated. We developed a new actuator, which consisted of an AC servomotor, a harmonic drive gear and an ER damper. The experiments were conducted, and the effectiveness of the actuator was shown.(2) We developed high-performance ER actuators for intelligent servo system. The electrodes of the output-shaft side in the developed ER actuators are made of light material and the moment of inertia of the ER actuators with respect to the output-shaft is very small. As a result, the large torque/ inertia ratio can be obtained, compared with conventional actuators. It can be stated that the developed ER actuators are devices with extremely high-response characteristics. Then, we developed force display systems using high-performance ER actuators.(3) Conventional research into ER fluids was based on parallel electrodes with ER fluids between them. Since a high voltage is required for use of ER fluids with parallel electrodes, problems of cost, safety and wiring for practical applications are of concern. We proposed one-sided pattern electrodes that solve some of the above problems. Then, we verified the effectiveness of the one-sided pattern electrode experimentally.(4) In general, it is difficult to execute high-gain feedback in direct-drive (DD) motors. We developed a DD motor with ER damper. In this system, it is possible to obtain controllable mechanical damping and to realize high servo gain in motion control.

电流动性（ER）流体是一种可以通过应用电场来改变其明显粘度的物质。如下所示，我们使用ER流体研究了新的智能伺服系统的开发。（1）当需要高速和精确的运动控制时，无法忽略机电机制中驱动系统的弹性。由于驱动系统的弹性，引起了病毒行为，并导致机电一体化系统的控制性能恶化。我们开发了一个新的执行器，该执行器由AC伺服电机，谐波驱动器件和ER阻尼器组成。进行了实验，并显示了执行器的有效性。（2）我们为智能伺服系统开发了高性能的ER执行器。发达的ER执行器中输出轴一侧的电极由轻质材料制成，而ER执行器相对于输出轴的惯性矩非常小。结果，与常规执行器相比，可以获得较大的扭矩/惯性比。可以说，开发的ER致动器是具有极高响应特征的设备。然后，我们使用高性能ER执行器开发了力显示系统。（3）对ER流体的常规研究基于平行电极之间的流体。由于使用具有平行电极的ER流体需要高电压，因此令人担忧的是，成本，安全性和接线的问题。我们提出了解决上述一些问题的单方面模式电极。然后，我们在实验上验证了单面模式电极的有效性。（4）通常，在直接驱动（DD）电动机中执行高增强反馈。我们开发了带有ER阻尼器的DD电机。在该系统中，有可能获得可控的机械阻尼并实现运动控制中的高伺服增益。