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.
|出版ステータス||Published - 2013 1月 1|
|イベント||2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan|
継続期間: 2013 9月 14 → 2013 9月 17
|Other||2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013|
|Period||13/9/14 → 13/9/17|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用