Motion Control of Direct-Drive Motor by a Homogeneous ER Fluid
Motion Control of Direct-Drive Motor by a Homogeneous ER Fluid
复制标题
均质电流变流体对直驱电机的运动控制
DOI：
10.1106/e29d-wqx6-fltl-vau2
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发表时间：
1999
影响因子：
2.7
通讯作者：
M. Sakaguchi
中科院分区：
文献类型：
--
作者：
N. Takesue;Guoguang Zhang;J. Furusho;M. Sakaguchi
由于直接驱动（DD）电机系统没有减速齿轮，因此伺服系统的结构可以简单且刚性。另一方面，在DD系统中，扰动力矩直接影响电机控制的精度。高伺服增益对于降低扰动扭矩的影响是有效且重要的。然而，高伺服控制常常使控制系统不稳定或振动。因此，为了保证稳定性必须降低伺服增益，并且干扰的影响变得严重。在本研究中，讨论了使用 ER 流体阻尼器的 DD 电机系统。通过将ER阻尼器应用于DD电机系统，可以获得机械阻尼并在运动控制中实现高伺服增益。最后，通过实验证实了所提出系统的有效性。
Since a direct-drive (DD) motor system doesn't have the reduction gear, the structure of the servo system can be simple and stiff. On the other hand, in the DD system, the disturbance torque directly influences the accuracy of the motor control. The high servo gain is effective and important for reducing the influence of the disturbance torque. However, the high servo control often makes the control system unstable or vibratory. Therefore, the servo gain must be lowered for assuring stability, and the influence of the disturbance becomes serious. In this study, the DD motor system using an ER fluid damper is discussed. By applying the ER damper to the DD motor system, it is possible to obtain the mechanical damping and to realize a high servo gain in the motion control. Finally, the effectiveness of the proposed system is confirmed experimentally.