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

点击翻译按钮获取中文摘要

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.