EAPSI: Vibration Reduction in Electromagnetic Actuators Based on Displacement Amplification

该项目旨在提高东京大学Higuchi博士和Hiroyuki Nabae博士开发的专门电磁执行器的性能和精度。该致动器能够执行高精度和高速度的运动。然而，执行器在操作时也往往会表现出不必要的振动，大大降低了其精度。该项目的目标是实现一种命令整形方法，以消除不需要的振荡，提高其精度。潜在的好处包括开发一种可靠的执行器，该执行器可以在当前使用压电执行器的应用中提高性能。该项目将于2017年夏天在东京工业大学进行，由远藤健二博士和Nabaa博士共同监督。该项目将涉及能够快速进行亚毫米行程的电磁线性执行器的减振。一般来说，由于电磁铁和电枢之间的间隙，随着行程距离的增加，电磁直线执行器的推力损失会很大。Higuchi博士和Nabae博士开发的执行器利用了一个放大机制，可以增加行程距离，同时在运动范围内保持推力。然而，执行器容易出现幅度为数百微米的不必要的振荡，这导致与行程长度相比存在显著的残余误差。该项目的目标是实施一种命令整形方法，以提高精度。要使用的命令整形方法利用系统的固有频率和阻尼比来找到相互作用破坏性的脉冲以消除残余振动。然后，这些脉冲与系统的原始参考命令卷积，以产生不会引起残余振动的命令。该项目的好处包括开发一种可靠的执行器，能够准确地执行高分辨率运动，而不会造成严重的推力损失。东亚和太平洋夏季学院计划下的这个奖项支持一名美国研究生的夏季研究，由NSF和日本科学促进会共同资助。

The project seeks to improve the performance and accuracy of a specialized electromagnetic actuator developed by Dr. Toshiro Higuchi and Dr. Hiroyuki Nabae at the University of Tokyo. The actuator is capable of performing high precision and high speed movements. However, the actuator also tends to exhibit unwanted vibration when operated, greatly reducing its precision. The goal of the project is to implement a command shaping method to eliminate the unwanted oscillation, improving its precision. Potential benefits include developing a reliable actuator that can improve performance in applications where piezoelectric actuators are currently used. The project will be conducted at Tokyo Institute of Technology during the summer of 2017 under the joint supervision of Dr. Gen Endo and Dr. Nabae.The project will involve vibration attenuation of electromagnetic linear actuators capable of quick sub-millimeter strokes. In general, electromagnetic linear actuators suffer a loss of thrust force as stroke distance increases due to the gap between the electromagnet and the armature. The actuator developed by Dr. Higuchi and Dr. Nabae utilizes an amplification mechanism that increases the stroke distance while maintaining thrust force for the extent of the movement. However, the actuators are prone to unwanted oscillation with amplitudes of hundreds of micrometers, which results in significant residual error when compared to stroke length. The goal of the project is to implement a command shaping method to improve precision. The command shaping method to be used utilizes a system's natural frequency and damping ratio to find impulses that interact destructively to cancel residual vibration. These impulses are then convolved with the system's original reference command to produce a command that causes no residual vibration. Benefits of this project include developing a reliable actuator capable of accurately performing high resolution movements without the drawback of a significant loss of thrust force.This award under the East Asia and Pacific Summer Institutes program supports summer research by a U.S. graduate student and is jointly funded by NSF and the Japan Society for the Promotion of Science.