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

电流变（ER）流体是一种可以通过施加电场改变其表观粘度的物质。我们研究了基于电流变流体的新型智能伺服系统的开发。(1)在要求高速、精密运动控制时，机电伺服机构中驱动系统的弹性是不容忽视的。由于驱动系统的弹性，导致了系统的循环行为，降低了机电一体化系统的控制性能。我们开发了一种新的执行器，它由一个交流伺服电机、一个谐波传动齿轮和一个变换器阻尼器组成。通过实验验证了该驱动器的有效性。(2)研制了用于智能伺服系统的高性能内磁致动器。所研制的激振器输出轴侧电极采用轻质材料制成，激振器相对于输出轴的转动惯量很小。因此，与传统的执行器相比，可以获得较大的扭矩/惯性比。由此可见，所研制的电磁致动器具有极高的响应特性。然后，我们开发了使用高性能ER执行器的力显示系统。(3)传统的电流变流体研究是基于电流变流体之间的平行电极。由于使用具有并联电极的电流变流体需要高电压，因此实际应用的成本，安全性和布线问题受到关注。我们提出的单侧模式电极解决了上述一些问题。然后，我们通过实验验证了单侧图案电极的有效性。(4)一般情况下，直接驱动（DD）电机难以实现高增益反馈。我们开发了一种带ER阻尼器的DD电机。在该系统中，可以获得可控的机械阻尼，并在运动控制中实现高伺服增益。

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.