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STUDY ON SAVING ENERGY FOR MECHATRONICS USING NOLINEAR CHARACTERISTICS

利用非线性特性的机电一体化节能研究

基本信息

批准号：
18560250
负责人：
IZUMI Teruyuki
金额：
$ 1.83万
依托单位：
Shimane University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2006
资助国家：
日本
起止时间：
2006 至 2007
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18560250/
关键词：
mechatronics manipulator balancer reduction gear reduction ratio saving energy dissipated energy optimization

项目摘要

It is important to reduce the dissipated energy even for mechatronic systems such as manipulators and servo systems for improving the environment of the earth that is warmed up by CO_2 gas emitted from thermal power plants. Hence, this project has studied on optimal velocity functions and optimal gear ratios that minimize the dissipated energy in a position control system including reduction gears.The energy dissipated in the mechatronic systems is composed of Joule loss due to motor armature resistances and friction loss due to gears. First, Coulomb friction of a reduction gear is represented using efficiency of the gear and the dynamic equation is expressed. Te optimal current and velocity functions that minimize the dissipated energy are obtained from optimal control theory. For nonlinearity due to the Coulomb friction of a reduction gear, the zero crossing time is introduced in order to obtain analytical solutions. The effect of each parameter of the system on the optimal zero crossing time is investigated by simulation. Finally, an experiment on position control is performed using the optimal velocity functions. The energy dissipated with the optimal velocity function is compared to the energy dissipated with a trapezoidal velocity function. The results of the experiment and simulations indicate that the optimal velocity function can provide remarkable energy saving for a larger moment of load inertia.The dissipated energy also depends on a transmission ratio of power transmitter such as gears and ball-screws. The dissipated energy is expressed by a transmission ratio, efficiency of the transmitter and load. In order to minimize the dissipated energy, the transmission ratios of gears and ball-screws are obtained by numerically and analytically. The obtained optimal transmission ratios can reduce the dissipated energy compare to the conventional inertia matching method.

对于机械手、伺服系统等机电一体化系统来说，降低能耗对于改善因火电厂排放的CO_2气体而升温的地球环境具有重要意义。因此，本计画研究最佳速度函数与最佳传动比，以使包含减速器之位置控制系统中所消耗的能量最小化，机电系统中所消耗的能量由马达电枢电阻所造成的焦耳损失与齿轮所造成的摩擦损失所组成。首先用齿轮效率表示减速器的库仑摩擦力，建立了减速器的动力学方程。从最优控制理论出发，得到了使能量耗散最小的最优电流和速度函数。针对减速器库仑摩擦引起的非线性，引入过零时间，得到解析解。通过仿真研究了系统各参数对最佳过零时间的影响。最后，利用最优速度函数进行了位置控制实验。将最优速度函数耗散的能量与梯形速度函数耗散的能量进行比较。实验和仿真结果表明，在负载转动惯量较大的情况下，最优速度函数能显著地降低系统的能耗，其能耗还取决于齿轮、滚珠丝杠等传动机构的传动比。耗散的能量由传输比、发射器的效率和负载表示。以能量耗散最小为目标，通过数值计算和解析计算，得到了齿轮和滚珠丝杠的传动比。与传统的惯性匹配方法相比，所得到的最优传动比可以降低系统的能量消耗。