Development of Spring Actuator Stacked of Iron Powder Layers with Electromagnetic Control

提出了一种新型的弹簧式执行器，在该执行器中可以使用常规的控制方法如PID控制来进行控制。致动器由一个普通的螺旋弹簧和内部的铁（铁氧体）粉末层的数量。铁层由包含铁颗粒的硅基粘合剂材料制成。这些层被粘贴到螺旋弹簧上，每层之间具有一定的气隙。为了实现伸展和压缩运动，永磁体附接到弹簧的顶部，电磁体附接到基部，并且致动器的顶部的运动由电磁体的线圈中的电流控制。提出了一种驱动器的成形方法，并给出了设计公式。特别是，尽管与其他致动器相比尺寸较小，但工作区域足够大。该致动器被用于隔振系统，并且可以确定，在本作者开发的干扰消除控制方法下，该致动器可以将振动体的振动控制为非常小。

A new spring type actuator is presented in which controls are possible by using usual control methods such as PID control. The actuator consists of a usual helical coil spring and a number of iron (ferrite) powder layers inside. The iron layers are made of silicon based adhesive material involving iron particles. The layers are pasted to the coil spring with a certain air gap between each layer. To achieve both extensive and compressive motions, a permanent magnet is attached to the top of the spring and electromagnet to the base, and the motion of the top of the actuator is controlled by electric currents in the coil of the electromagnet. A method of forming the actuator is presented, and its design formulae are presented. Especially, the work area is large enough in spite of the size being small in comparison with other actuators. The actuator is utilized to a vibration isolation system, and it is ascertained that the actuator can control vibrations of the vibrating body to be significantly small under the disturbance cancellation control method developed by the present author.