Study on Intelligent Control of Servo Systems Using Particle-Type ER Fluid

电流变(ER)流体是一种可以通过施加电场改变其表观粘度的物质。本文对新型电流变液智能伺服系统的开发进行了以下研究：(1)在要求高速、精密运动控制的情况下，机电伺服机构驱动系统的弹性是不容忽视的。由于驱动系统的弹性，导致了虚拟行为，降低了机电一体化系统的控制性能。我们研制了一种由交流伺服电机、谐波传动齿轮和电流变阻尼器组成的新型执行器。通过实验验证了该执行器的有效性。(2)针对智能伺服系统开发了高性能电流变执行器。所研制的电流变驱动器输出轴一侧的电极均为轻质材料，且其相对于输出轴的转动惯量很小。结果表明，与传统的执行器相比，可以获得较大的力矩/惯性比。可以说，所开发的电流变执行器是具有极高响应特性的器件。在此基础上，利用高性能电流变驱动器开发了力显示系统。(3)传统的电流变流体研究是基于平行电极的，电流变流体之间夹着电流变流体。由于使用平行电极的电流变液需要高电压，因此实际应用中的成本、安全和接线问题是令人担忧的。我们提出了解决上述一些问题的单面图案电极。并通过实验验证了单边模式电极的有效性。(4)通常情况下，直接驱动电机很难实现高增益反馈。我们开发了一种带有电流变阻尼器的DD电机。在该系统中，可以获得可控的机械减振，并在运动控制中实现高的伺服增益。

An electro-rheological (ER) fluid is a substance that can change its apparent viscosity by the application of an electric field. We studied the development of new intelligent servo systems using ER fluid as in the following.(1) The elasticity of the drive systems in mechatronics servomechanisin cannot be ignored when the high-speed and precise motion control is required. Due to the elasticity of the drive systems, the viratory behaviors are caused, and the control performances of mechatronics systems are deteriorated. We developed a new actuator, which consisted of an AC servomotor, a harmonic drive gear and an ER damper. The experiments were conducted, and the effectiveness of the actuator was shown.(2) We developed high-performance ER actuators for intelligent servo system. The electrodes of the output-shaft side in the developed ER actuators are made of light material and the moment of inertia of the ER actuators with respect to the output-shaft is very small. As a result, the large torque/ inertia ratio can be obtained, compared with conventional actuators. It can be stated that the developed ER actuators are devices with extremely high-response characteristics. Then, we developed force display systems using high-performance ER actuators.(3) Conventional research into ER fluids was based on parallel electrodes with ER fluids between them. Since a high voltage is required for use of ER fluids with parallel electrodes, problems of cost, safety and wiring for practical applications are of concern. We proposed one-sided pattern electrodes that solve some of the above problems. Then, we verified the effectiveness of the one-sided pattern electrode experimentally.(4) In general, it is difficult to execute high-gain feedback in direct-drive (DD) motors. We developed a DD motor with ER damper. In this system, it is possible to obtain controllable mechanical damping and to realize high servo gain in motion control.