Mechatronics design of stiffness enhancement for direct-drive motor system using ER variable damper

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	Mechatronics design of stiffness enhancement for direct-drive motor system using ER variable damper
	Su, Y. X.; Duan, B. Y.; Zheng, C. H.
刊名	Journal of Robotic Systems
	2002
卷号	19 期号:5 页码:419-425
ISSN号	0741-2223
产权排序	1
中文摘要	Direct-drive (DD) motors have the characteristics of simple structure and high controllability without reduction gears or ball screws. However, DD motors are more sensitive to the disturbance torque and parameter variation than other motor systems, which have reduction gears. Enhancement of DD motor stiffness by increasing the gain is one of the effective methods to reduce this influence, but large gain will lead to instability and even vibration. Viewed from mechatronics design, an ER variable damper with a damping coefficient that can be changed depending on how the applicable voltage is designed, and directly attached to the shaft of the DD motor to achieve high servo stiffness. The structure and the damping coefficient model of the proposed ER variable damper are developed. The validation of this mechatronics design is demonstrated by a position PD (proportional derivative) control DD motor system with numerical simulations, which achieved both high stiffness and good stability for the controlled DD motor system.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Robotics
研究领域[WOS]	Robotics
关键词[WOS]	ELECTRORHEOLOGICAL FLUID ; DISTURBANCE OBSERVER ; VIBRATION CONTROL
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000177686100001
公开日期	2012-05-29
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/7374]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Su, Y. X.,Duan, B. Y.,Zheng, C. H.. Mechatronics design of stiffness enhancement for direct-drive motor system using ER variable damper[J]. Journal of Robotic Systems,2002,19(5):419-425.
APA	Su, Y. X.,Duan, B. Y.,&Zheng, C. H..(2002).Mechatronics design of stiffness enhancement for direct-drive motor system using ER variable damper.Journal of Robotic Systems,19(5),419-425.
MLA	Su, Y. X.,et al."Mechatronics design of stiffness enhancement for direct-drive motor system using ER variable damper".Journal of Robotic Systems 19.5(2002):419-425.