Development of Servomechanism Using Traction Drive

利用牵引驱动的伺服机构的开发

基本信息

  • 批准号:
    10555070
  • 负责人:
  • 金额:
    $ 5.82万
  • 依托单位:
  • 依托单位国家:
    日本
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
  • 财政年份:
    1998
  • 资助国家:
    日本
  • 起止时间:
    1998 至 1999
  • 项目状态:
    已结题

项目摘要

Traction drive has excellent transmission characteristics compared with reduction gear. Backlash of traction drive is negligible and the frequency components of transmission error are small in high frequency range. Actually, traction drive contains only transmission error that has low frequency. This is significant for obtaining high-precision servomechanisms because the transmission error can be compensated more easily compared with gear reducers. Therefore, EMURA applied traction drive to a constant-velocity servomechanism. We developed a high-precision servomechanism and demonstrated the performance of traction drive for high-precision servomechanisms by experimental results.Traction drive transmits torque by viscous force of fluid film formed between two rolling rollers. Torque transmission of traction drive is accompanied with slip between the two rollers. The torque transmission characteristics versus slip are very important to the servomechanisms. Applying traction drive to posi … More tioning servomechanisms, we have to carry out feedback control of rotary angle of output axis. This means that the slip takes place inside feedback loop and affects the performance of the servomechanisms. Therefore, it is important to know torque transmission characteristics versus slip. However, most of reported results are only about static characteristics and the dynamic characteristics have not yet clarified. Therefore, we investigated the transmission characteristics versus slip by experiments. Slip between the two rollers is very small so that it is difficult to detect it with high accuracy by using conventional methods, in particular, at a high-velocity rotation.In order to solve this difficult problem, Emura proposed to a method called non-sinusoidal 2-phase type PLL. This method uses two encoders mounted on input axis and output axis respectively and detects slip velocity with high-resolution by interpolating the phase of he two encoders. However, the eccentricity and run-out of rollers induce large ripples to the velocity difference, and the output of detection circuits contains larger error. Therefore, in this study, cross correlation method was used to remove such error for precise investigation of the frequency characteristics of torque transmission.The experimental results showed that the torque transmission characteristics have large nonlinearity and the linear range is very small. The nonlenearity of torque transmission induces unstableness like oscillations to servomechanisms and the robustness for load fluctuation becomes poor. To improve the stability and load characteristics, we proposed a slip-velocity feedback control to the servomechanism based on the measured torque transmission characteristics. By the above mentioned works on traction drive control, we could develop and servomechanism whose characteristics were significantly improved. Less
与减速器相比,牵引传动具有优良的传动特性。牵引传动的齿隙可以忽略不计,传动误差的频率分量在高频范围内很小。实际上,牵引传动只包含传动误差,而且传动误差的频率很低。这对于获得高精度伺服机构是重要的,因为与齿轮减速器相比,传动误差可以更容易地补偿。因此,EMURA将牵引驱动应用于恒速伺服机构。研制了一种高精度伺服机构,并通过实验验证了高精度伺服机构中牵引传动的性能,牵引传动是通过两个滚动辊之间形成的液膜的粘性力来传递转矩的。牵引传动的扭矩传递伴随着两个滚子之间的滑动。转矩传递特性与转差率的关系对伺服机构是非常重要的。将牵引驱动应用于位置 ...更多信息 在伺服机构中,我们必须对输出轴的转角进行反馈控制。这意味着滑差发生在反馈回路内,并影响伺服机构的性能。因此,重要的是要知道扭矩传递特性与滑移。然而,目前大多数的研究结果都是静态的,动态的特性还没有得到很好的解释。因此,我们通过实验研究了传输特性与滑移。由于两辊间的滑动量很小,特别是在高速旋转时,用常规方法很难高精度地检测出来,为了解决这一难题,Emura提出了一种称为非正弦2相型PLL的方法。该方法采用分别安装在输入轴和输出轴上的两个编码器,通过对两个编码器相位的插值,实现对滑移速度的高分辨率检测。然而,由于轧辊偏心和跳动的影响,速度差会产生较大的波动,检测电路的输出误差较大。因此,本研究采用互相关法消除这种误差,对转矩传递的频率特性进行了精确的研究,实验结果表明,转矩传递特性具有较大的非线性,线性范围很小。转矩传递的非线性会导致伺服系统出现振荡等不稳定现象,对负载波动的鲁棒性变差。为了改善伺服系统的稳定性和负载特性,提出了一种基于实测转矩传递特性的滑差速度反馈控制方法。通过对牵引传动控制的上述研究,可以开发出性能得到显著改善的伺服机构。少

项目成果

期刊论文数量(31)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Lei Wang and Takashi Emura: "A High-Resolution Servomechanism That Uses Traction Drive by Non-Sinusoidal Two-Phase type PLL Method" Proceedings of 1998 Japan-U.S.A.Symposium on Flexible Automation. Vol.1. 521-528 (1998)
Lei Wang和Takashi Emura:“一种采用非正弦两相型PLL方法牵引驱动的高分辨率伺服机构”1998年日本-美国柔性自动化研讨会论文集。
  • DOI:
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  • 影响因子:
    0
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Lei Wang and Takashi Emura: "A high-precision positioning servo-controller using non-sinusoidal two-phase type PLL"Mechatronics. 9. 785-801 (1999)
Lei Wang 和 Takashi Emura:“一种使用非正弦两相型 PLL 的高精度定位伺服控制器”机电一体化。
  • DOI:
  • 发表时间:
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    0
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Lei Wang and Takashi Emura: "High-Precision Interpolating Using Two-Phase Type PLL for Encoders That Have Distorted Waveforms" Proceedings of the 1997 IEEE International Conference on Intelligent Processing Systems. 1. 82-87 (1997)
Lei Wang 和 Takashi Emura:“使用两相型 PLL 对波形失真的编码器进行高精度插值”1997 年 IEEE 智能处理系统国际会议论文集。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
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Takashi Emura and Lei Wang: "Application of Traction Drive to Constant-Velocity Servomechanisms" Proceedings of Mechatronics '96 with M2VIP. Vol.2. 227-232 (1996)
Takashi Emura 和 Lei Wang:“牵引驱动在恒速伺服机构中的应用”Mechatronics 96 论文集,M2VIP。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
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  • 通讯作者:
Lei Wang and Takashi Emura: "A High-precision Positioning Servo-controller Using Non-sinusoidal Two-phase Type PLL" Proceedings of Mechatronics'98. 1. 103-108 (1998)
Lei Wang 和 Takashi Emura:“使用非正弦两相型 PLL 的高精度定位伺服控制器”Mechatronics98 论文集。
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    0
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EMURA Takashi其他文献

EMURA Takashi的其他文献

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{{ truncateString('EMURA Takashi', 18)}}的其他基金

Development of an Automatically Steered Vehicle Controlled with Multisensor
多传感器控制自动转向车辆的研制
  • 批准号:
    13650267
  • 财政年份:
    2001
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Biped and Quadruped Robots That Walk Dynamically on Variable-Angle Slope
在变角度斜坡上动态行走的双足和四足机器人
  • 批准号:
    11650240
  • 财政年份:
    1999
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
High-Precision Control of Servomechanism Using Traction Drive
利用牵引驱动的伺服机构的高精度控制
  • 批准号:
    09650260
  • 财政年份:
    1997
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Development of High-Precision and High-Resolution Servo-Controllers, That Have High Noise-Rejection Ability
开发具有高抗噪能力的高精度、高分辨率伺服控制器
  • 批准号:
    07555075
  • 财政年份:
    1995
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for Scientific Research (A)
A Study on Numerically Controlled Machine Tools for Cutting Noncircular Gears and Their Control Method
非圆齿轮切削数控机床及其控制方法的研究
  • 批准号:
    04650206
  • 财政年份:
    1992
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (C)
Development of a High-speed NC Spindle System Synchronized by Two-Phase Type PLL Method
两相式PLL法同步高速数控主轴系统的研制
  • 批准号:
    03555044
  • 财政年份:
    1991
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for Developmental Scientific Research (B)
Numerically Control of Servo-Spindle for Machine Tools by Two-phase Type PLL Method
两相式PLL法机床伺服主轴的数控
  • 批准号:
    02650172
  • 财政年份:
    1990
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (C)
A High Precision Servomechanism of a Constant Speed for NC Machines
数控机床高精度恒速伺服机构
  • 批准号:
    63550177
  • 财政年份:
    1988
  • 资助金额:
    $ 5.82万
  • 项目类别:
    Grant-in-Aid for General Scientific Research (C)

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