ハイブリッド型空気圧・電気駆動モータの設計と制御(機械力学,計測,自動制御)

概要

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Pneumatic motors have not so far been well-studied in the robotics literature, despite their many advantages. In particular, vane-type pneumatic motors have the advantage of high power-to-weight ratio. In this paper, we develop light-weight pneumatic motors in order to enhance the power-to-weight ratio. We have ptopose a sliding mode control method using difference pressure to improve control performance of vane-type pneumatic motors. Effectiveness of the proposed method has been demonstrated through some experimental results. However, this method has a significant steady state error. Therefore, we propose the development of hybrid pneumatic/electric motors where a small electric motor is used to reduce the steady state error. We explain the design methodology for hybrid pneumatic/electric motors. And we propose control algorithms for position control. The performance of the proposed hybrid motor is demonstrated by several experimental results on position and force control.
社団法人日本機械学会の論文
2002-01-25