回転角制御機能を備えた流体駆動スピンドルの開発と回転角制御(機械要素,潤滑,設計,生産加工,生産システムなど)

概要

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A fluid-driven spindle with hydrostatic bearings was designed and tested. Several flow channels are designed in its rotor so that the driving torque can be generated by supplying pressurized flow into the channels. The rotational speed of the spindle can be controlled by the flow rate. In addition, the rotational direction of the spindle can be controlled by switching supply ports. The angular position control is thus achieved by designing appropriate feedback controller. A mathematical model of the spindle was derived and spindle characteristics calculated by the model were compared with experimental results. Furthermore, the angular position control system that has a disturbance observer in its feedback loop was designed based on the mathematical model. The step response of the designed angular position control system was experimentally tested. The designed controller minimizes the steady state error of the control system. Consequently, the steady state error was comparable with the resolution of the rotary encoder, 0.018 degrees. In particular, the experimental results indicated that the disturbance observer was effective to reduce the influence of various load torque on the angular position of the spindle.
2010-03-25