High Speed and High Precision Control of Mechatronics Systems Using Liquid Crystalline Polymers

使用液晶聚合物的机电一体化系统的高速高精度控制

• 批准号: 09650292
• 负责人: FURUSHO Junji
• 金额: $ 2.43万
• 依托单位: Osaka University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650292/
• 关键词: Mechatronics; High-Precision Control; Vibration Control; Functional Fluids; Robotics; Flexible Arm; Direct Drive System

In most electric-powered robots, each joints is driven through a reduction gear unit such as harmonic drive.Because of the elasticity of the driving systems including these reduction gear units, serious problems of vibrational behavior during operation and residual vibration are being caused with many of industrial robots.In this study variable viscous dampers using liquid crystalline polymers are developed to suppress vibration of industrial robots and mechatronics systems.The obtained results may be summarized as follows :(1) A robot system was developed which has a variable damper using liquid crystalline polymers.For the developed system, by applying an electric field to the damper, it is shown that the influence of the resonance and antiresonance of a 2-inertia system is lowered.(2) In order to maintain the robust stability, a controller is designed by a mixed sensitivity design method of the robust control theory.As a result, it was shown that the applying an electric field makes high-gain position control possible.Then, control experiments were carried out, and good responses are obtained.(3) The DD motor system was developed which has a variable damper using liquid crystalline polymers.It was experimentally confirmed that the servo stiffness can be ten times as high as the one in the case without the damper.

在大多数电动机器人中，每个关节都是通过谐波传动等减速装置驱动的。由于包括这些减速装置在内的驱动系统的弹性，针对工业机器人在工作过程中产生的振动特性和残余振动问题，研制了一种基于液晶聚合物的变粘滞阻尼器，用于抑制工业机器人和机电一体化设备的振动研究结果如下：（1）研制了一种具有液晶聚合物可变阻尼器的机器人系统，通过在阻尼器上施加电场，降低了2-惯性系统的共振和反共振的影响。(2)为了保持系统的鲁棒稳定性，采用鲁棒控制理论中的混合灵敏度设计方法设计了控制器，结果表明，施加电场使高增益位置控制成为可能，并进行了控制实验，获得了良好的响应。(3)开发了具有液晶聚合物可变阻尼器的DD电机系统，实验证实伺服刚度可以是没有阻尼器的情况下的伺服刚度的10倍。

项目成果

N.Takesue,et al.: "High Stiffness Control of Direct-Drive Motor System by a Homogeneous ER Fluid" Proc.of the 1999 IEEE Int.Conf.on Robotics and Automation. (印刷中). (1999)

N.Takesue 等人：“均质 ER 流体的直接驱动电机系统的高刚度控制”，1999 年 IEEE Int.Conf.on 机器人与自动化（正在出版）。

J.Furusho,et al.: "Vibration Suppression Control of Robot Arms Using a Homogenえous-Type Electrorheological Fluid" Proc.of the 1997 IEEE Int.Conf.on Robotics and Automation. Vol.4. 3441-3448 (1997)

J. Furusho 等人：“使用均质型电流变流体的机器人手臂的振动抑制”，1997 年 IEEE Int.Conf.on 机器人与自动化第 4 卷（1997 年）。

N.Takesue: "Precise Position Control of Roboto Arms Using a Homogeneous ER Fluid" Proc.of IEEE Int.Conf.on Robotics and Automation. (印刷中). (1998)

N.Takesue：“使用均质 ER 流体对机器人手臂进行精确位置控制”Proc.of IEEE Int.Conf.on Robotics and Automation（正在出版）。

N.Takesue,et al.: "Precise Position Control of Robot Arms Using a Homogeneous ER Fluid" IEEE Control Systems. (印刷中). (1999)

N.Takesue 等人：“使用均质 ER 流体对机器人手臂进行精确位置控制”IEEE 控制系统（正在出版）。

J.Furusho: "Vibration Suppression Control of Robot Arms Using a Homogeneous-Type Electrorheological Fluid" Proc.of IEEE Int.Conf.on Robotics and Automation. Vol.14. 3441-3448 (1997)

J.Furusho：“使用均质型电流变液对机器人手臂进行振动抑制控制”Proc.of IEEE Int.Conf.on Robotics and Automation。