1P1-C10 ダブルモータ駆動式アクチュエータモジュールの開発 : アクチュエータの特性評価及び安全関連部アーキテクチャの基本構成

概要

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In this paper, the characteristic of a double-motor driving type actuator is evaluated and a basic structure of a safety related part (SRP) for the actuator is examined to develop a high-safety and high-performance actuator module. As a result of the evaluation, it was confirmed that speed/torque gradient of a double-motor driving was 0.5 times than that of a single-motor driving, and torque constant was the same for both driving methods. However, it was cleared that driving characteristics were changed according to the size of offset voltage between motors. A safety related part for the actuator was implemented which all safety elements were loo2 architectures.
一般社団法人日本機械学会の論文