High-Speed position control of dynamic elastic actuator using elastic potential energy

Kazumasa Miura, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a high speed position control using a new actuation structure. To realize a small-sized and highly-torque actuator, a reduction gear is usually used. So that current saturation and friction effect of the actuator exist, the actuator has the maximum acceleration and maximum revolution speed. The gear with high gear ratio reduces these two maximum values because of the reduction mechanism. As a result, it is difficult to achieve high-speed motions using the gear. In this paper, a new actuation mechanism is utilized to realize high-speed motions. The new mechanism is constructed of an electromagnetic clutch and elastic spring, and high-speed motions are achieved by releasing the clutch and transforming the accumulated elastic potential energy by the geared motor into kinetic energy. Using this new mechanism, high-speed position control is proposed in this paper. In the proposed system, the output revolution speed exceeds the maximum revolution speed that is reduced by the gear. Finally, the validity of the proposed method is verified experimentally.

Original languageEnglish
Title of host publicationProceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages726-731
Number of pages6
ISBN (Electronic)9781509017980
DOIs
Publication statusPublished - 2016 Nov 21
Event17th IEEE International Power Electronics and Motion Control Conference, PEMC 2016 - Varna, Bulgaria
Duration: 2016 Sep 252016 Sep 28

Other

Other17th IEEE International Power Electronics and Motion Control Conference, PEMC 2016
CountryBulgaria
CityVarna
Period16/9/2516/9/28

Fingerprint

Elastic potential energy
Position Control
Speed Control
Position control
Speed control
Potential energy
Actuator
High Speed
Actuators
Gears
Clutches
Motion
Kinetic energy
Torque
Saturation
Friction
Exceed
Output

ASJC Scopus subject areas

  • Control and Optimization
  • Electrical and Electronic Engineering
  • Energy Engineering and Power Technology

Cite this

Miura, K., & Katsura, S. (2016). High-Speed position control of dynamic elastic actuator using elastic potential energy. In Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016 (pp. 726-731). [7752084] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EPEPEMC.2016.7752084

High-Speed position control of dynamic elastic actuator using elastic potential energy. / Miura, Kazumasa; Katsura, Seiichiro.

Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 726-731 7752084.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Miura, K & Katsura, S 2016, High-Speed position control of dynamic elastic actuator using elastic potential energy. in Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016., 7752084, Institute of Electrical and Electronics Engineers Inc., pp. 726-731, 17th IEEE International Power Electronics and Motion Control Conference, PEMC 2016, Varna, Bulgaria, 16/9/25. https://doi.org/10.1109/EPEPEMC.2016.7752084
Miura K, Katsura S. High-Speed position control of dynamic elastic actuator using elastic potential energy. In Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 726-731. 7752084 https://doi.org/10.1109/EPEPEMC.2016.7752084
Miura, Kazumasa ; Katsura, Seiichiro. / High-Speed position control of dynamic elastic actuator using elastic potential energy. Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 726-731
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