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

Kazumasa Miura, Seiichiro Katsura

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ726-731
ページ数6
ISBN(電子版)9781509017980
DOI
出版ステータスPublished - 2016 11 21
イベント17th IEEE International Power Electronics and Motion Control Conference, PEMC 2016 - Varna, Bulgaria
継続期間: 2016 9 252016 9 28

出版物シリーズ

名前Proceedings - 2016 IEEE International Power Electronics and Motion Control Conference, PEMC 2016

Other

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

ASJC Scopus subject areas

  • 制御と最適化
  • 電子工学および電気工学
  • エネルギー工学および電力技術

フィンガープリント

「High-Speed position control of dynamic elastic actuator using elastic potential energy」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル