EAPSI: Vibration Reduction in Electromagnetic Actuators Based on Displacement Amplification

该项目旨在提高由东京大学的Toshiro Higuchi博士和Hiroyuki Nabae博士开发的专用电磁致动器的性能和精度。该致动器能够执行高精度和高速运动。然而，致动器在操作时也倾向于表现出不希望的振动，大大降低了其精度。该项目的目标是实现一种命令整形方法，以消除不必要的振荡，提高其精度。潜在的好处包括开发一种可靠的致动器，可以提高目前使用压电致动器的应用中的性能。该项目将于2017年夏季在东京工业大学进行，由远藤元博士和菜江博士共同监督。该项目将涉及能够快速亚毫米冲程的电磁线性致动器的振动衰减。通常，由于电磁体和电枢之间的差距，电磁线性致动器在行程距离增加时遭受推力损失。由Higuchi博士和Nabae博士开发的致动器利用放大机制，增加行程距离，同时保持运动范围的推力。然而，致动器易于产生具有数百微米的振幅的不希望的振荡，这在与行程长度相比时导致显著的残余误差。该项目的目标是实现一种命令成形方法，以提高精度。要使用的命令成形方法利用系统的固有频率和阻尼比来找到破坏性地相互作用以消除残余振动的脉冲。然后，这些脉冲与系统的原始参考命令进行卷积，以产生不会引起残余振动的命令。该项目的优势在于开发出一种可靠的执行器，能够准确地执行高分辨率运动，而不会出现推力显著损失的缺点。该奖项是由美国国家科学基金会和日本科学促进会共同资助的东亚和太平洋夏季研究所项目，旨在支持美国研究生的夏季研究。

The project seeks to improve the performance and accuracy of a specialized electromagnetic actuator developed by Dr. Toshiro Higuchi and Dr. Hiroyuki Nabae at the University of Tokyo. The actuator is capable of performing high precision and high speed movements. However, the actuator also tends to exhibit unwanted vibration when operated, greatly reducing its precision. The goal of the project is to implement a command shaping method to eliminate the unwanted oscillation, improving its precision. Potential benefits include developing a reliable actuator that can improve performance in applications where piezoelectric actuators are currently used. The project will be conducted at Tokyo Institute of Technology during the summer of 2017 under the joint supervision of Dr. Gen Endo and Dr. Nabae.The project will involve vibration attenuation of electromagnetic linear actuators capable of quick sub-millimeter strokes. In general, electromagnetic linear actuators suffer a loss of thrust force as stroke distance increases due to the gap between the electromagnet and the armature. The actuator developed by Dr. Higuchi and Dr. Nabae utilizes an amplification mechanism that increases the stroke distance while maintaining thrust force for the extent of the movement. However, the actuators are prone to unwanted oscillation with amplitudes of hundreds of micrometers, which results in significant residual error when compared to stroke length. The goal of the project is to implement a command shaping method to improve precision. The command shaping method to be used utilizes a system's natural frequency and damping ratio to find impulses that interact destructively to cancel residual vibration. These impulses are then convolved with the system's original reference command to produce a command that causes no residual vibration. Benefits of this project include developing a reliable actuator capable of accurately performing high resolution movements without the drawback of a significant loss of thrust force.This award under the East Asia and Pacific Summer Institutes program supports summer research by a U.S. graduate student and is jointly funded by NSF and the Japan Society for the Promotion of Science.