MOTION CONTROL TAKING ENERGY RECYCLING INTO ACCOUNT

该行业的能源消耗几乎占日本能源消耗总量的一半。在生产和装配过程中节能是必要的和重要的。尽管在京都议定书中COP 3达成了协议，但日本的CO2排放量在2010年超过了议定值。已确定这七个项目来实现上述要求。其中一些与能源的有效管理有关。然而，工业倾向于引入自动化设备以减少生产线上的工人数量。这种自动化设备将节省工人，但他们需要更多的能源。一般来说，生产中提供的能量在运动控制中消耗，最终转化为热量。能源的总效率并不高。这导致能源的低效率使用，因此自动化工厂的能源消耗越来越高。为了解决这个问题，本项目提出了在运动控制中有效地利用能量的方法，本项目的研究 关于我们 按照以下时间表进行试验。运动系统能量有效控制的建议2.能量交换分析3.设计方法学4.实施拟议的系统5。未来展望这个项目的想法是基于运动系统中再生能量的回收利用。具有多个自由度的机器人由相同数量的电动机驱动。它们的能量由逆变器提供，但它们都不将电力转换为机械动力。其中一些以再生模式运行。在生产线上，有很多机器人同步运动。由于一个电机连接到一个逆变器，因此有许多逆变器以再生模式运行。然而，在大多数情况下，再生功率消耗在逆变器中安装的电阻器中。这产生了必要的制动，但是降低了运动系统的效率。如果将再生功率用于其他关节，将提高总效率。该原理不限于机器人关节的驱动。这是不用说，这一原则是适用于一般的运动系统，如果相互作用的运动学是充分考虑。能量转移从逆变器在再生模式的逆变器在电动模式是自动完成的，如果它们连接到同一直流链接线。这意味着它们应该具有共同的DC链路。为了实现能量的平稳传输，不仅需要控制从再生模式到电动模式的切换定时，而且还需要平衡功率流。这种控制应进行硬实时的方式的基础上的连接矩阵，这是来自机械功率流。可达矩阵是很容易计算的连接矩阵，显示了整体的能量流。本研究旨在展示该系统在机器人系统中的可行性。在2000和2001学年，我们致力于FTP运动控制器的设计，数值计算和初步实验表明，通过控制启动时间与启动和制动时间的一致性，达到了提高能耗效率的目的。该算法适用于步行机，因为它具有多个自由度。采用RT-Linux作为控制器的实时操作系统。为了最大限度地减少通信延迟，使用了另一个研究小组开发的RT-messenger。由于这种硬实时系统，每个运动系统的定时控制器可以同步。总之，本研究项目显示了硬实时系统的可行性，以实现运动系统中的能量回收。实现了能量从再生电源向电动电源的平稳传递。少

The industry is spending almost half of the total energy used in Japan. It is necessary and important to save energy in production and assembling. In spite of COP3 agreement in Kyoto protocol, C02 emission in Japan is exceeding the agreed value in the year of 2010. The seven items have been determined to accomplish above requirement. Some of them are related to the efficient management of energy. However industry tends to introduce the automation devices to reduce the number of workers in the production lines. Such automation devices will save workers, however, they need more energy. In general the supplied energy in production is consumed in the motion control, and finally it turns to heat. The total efficiency of energy is not so high. This causes the lower efficient usage of energy and as a result the energy consumption in automated factory is going up and up. To overcome this problem, this project is proposing the efficient usage of energy in motion control.The research of this pro … More ject was done in the following schedule.1. Proposal of the efficient control of energy in motion systems2. Analysis of energy exchange3. Design methodology of controller4. Implementation of the proposed system5. Future prospectThe idea of this project is based on recycling of regenerative power in motion systems. A robot with plural degrees-of-freedom is actuated by the same numbers of electric motors. Their energy is supplied with inverters, however all of them do not convert the electric power to mechanical power. Some of them are operated in regenerative mode. In production line, there are a lot of robots which are making their motion synchronously. Since one motor is connected to one inverter, there are many inverters which are operated in regenerative mode. However, in most of the cases, the regenerative power is consumed in the resistor installed in inverter. This generates the necessary braking, however deteriorates the efficiency of motion systems. If the regenerative power is used in other joint, which will improve the total efficiency. The principle is not limited to drive of joint of robot. It is needless to say that this principle is applicable to general motion systems if interactive kinematics is sufficiently taken into account.The energy transfer from the inverters in regenerative mode to the inverters in motoring mode is automatically done if they are connected to the same DC link line. This means they should have common DC link. To realize the smooth transfer of energy, it is necessary to control not only timing of switching from regenerative mode to motoring mode, but also balancing the power flow. This control should be carried out in hard real-time manner based on the connection matrix which is derived from the mechanical power flow. The reachable matrix is easily calculated from connection matrix which shows the overall energy flow. This research intends to show the feasibility of the system in robotic systems. In 2000 and 2001 academic year, the effort was concentrated to the design of controller for FTP based motion control.The numerical arid preliminary experiments has shown that the improvement of the efficiency of the energy consumption is attained by controlling the alignment of starting time to starting and braking. The algorithm is applied to walking machine, since it has plural degrees-of-freedom. RT-Linux is employed as a real-time operating system of controller. To minimize the delay of communications, the RT-messenger developed in another research group is used. Thanks to such a hard real-time system, the controller of timing of each motion system can be synchronized.In conclusions, this research project has shown the viability of hard real-time system to realize recycling of energy in motion systems. The energy transfer from regenerated power supply to motoring power supply is smoothly realized. Less