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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.

电流变（ER）流体是一种可以通过施加电场来改变其表观粘度的物质。本文主要研究了基于电流变液的新型智能伺服系统的开发。(1)在要求高速、高精度运动控制的机电一体化伺服系统中，驱动系统的弹性是不可忽视的。由于机电一体化系统的弹性，会引起系统的振动行为，从而影响系统的控制性能。研制了一种新型的电流变致动器，它由交流阻尼器、谐波齿轮和电流变阻尼器组成。实验结果表明了该驱动器的有效性。(2)我们为智能伺服系统开发了高性能的电流变执行器。所开发的电流变致动器中输出轴侧的电极由轻质材料制成，并且电流变致动器相对于输出轴的转动惯量非常小。结果，与传统致动器相比，可以获得大的转矩/惯性比。可以说，所开发的电流变致动器是具有极高响应特性的装置。然后，我们开发了使用高性能ER致动器的力显示系统。(3)电流变液的传统研究是基于平行电极，电流变液在它们之间。由于使用具有平行电极的ER流体需要高电压，因此成本、安全性和实际应用中的布线问题受到关注。我们提出了解决上述问题中的一些的单侧图案电极。然后，我们通过实验验证了单侧图案电极的有效性。(4)通常，在直接驱动（DD）电机中难以执行高增益反馈。我们开发了一种带有电流变阻尼器的DD电机。在该系统中，可以获得可控的机械阻尼，并实现运动控制中的高伺服增益。