Energy saving by extremum-seeking control using an actuator with adjustable stiffness (AwAS)

Takafumi Okubo, Hiromitsu Ohmori

Research output: Contribution to conferencePaper

Abstract

In repetitive motions, Actuator with Adjustable Stiffness (AwAS) can realize resonance and largely reduce energy consumption thanks to its ability to change the level of stiffness and adjust its natural frequency to the desired motion's frequency. In conventional method, an ideal stiffness value is calculated from frequency of the target motion and parameters of AwAS beforehand. This is an off-line system. Extremum-seeking control allows AwAS to optimize its stiffness on-line. Therefore, even if the frequency of the desired motion or parameters of AwAS change in unexpected time, it can optimize the stiffness and realize energy saving continuously. It was confirmed by numerical simulations.

Original languageEnglish
Pages1836-1841
Number of pages6
Publication statusPublished - 2013 Jan 1
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: 2013 Sep 142013 Sep 17

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period13/9/1413/9/17

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Keywords

  • Adjustable stiffness
  • Energy saving
  • Extremum-seeking control
  • Resonance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Okubo, T., & Ohmori, H. (2013). Energy saving by extremum-seeking control using an actuator with adjustable stiffness (AwAS). 1836-1841. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.