ダイレクト・ドライブ・モータの高ゲインフィードバック制御に関する研究 : 均一系ER流体を用いた可変ダンパの適用

概要

論文の詳細を見る
Since a direct-drive(DD) motor system doesn't use the reduction gear, the structure of the servo system can be simple and stiff. On the other hand, in the DD system, the disturbance torque directly influences the accuracy of the control system. The high feedback gain is effective and important for reducing the influence of the disturbance. However, it easily makes the control system vibratory. Therefore, the servo gain has to be lowered for assuring stability, and this causes the influence of the disturbance large. In this study, we aim to realize the high gain feedback control and the DD motor system using an ER fluid damper is developed. By applying the ER damper to the DD motor system, it is possible to obtain the mechanical damping and to realize a high servo gain in the motion control. Finally, the effectiveness of the proposed system is confirmed experimentally.
社団法人日本機械学会の論文
2000-11-25