角速度飽和のある超音波モータを用いた直列弾性アクチュエータのトルク制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2020/05/01

タイトル(英語): Torque Control of a Series Elastic Actuator Using an Ultrasonic Motor with Angular-Velocity Saturation

著者名: 中村　俊哉（三重大学大学院工学研究科電気電子工学専攻），矢代　大祐（三重大学大学院工学研究科電気電子工学専攻），弓場井　一裕（三重大学大学院工学研究科電気電子工学専攻），駒田　諭（三重大学大学院工学研究科電気電子工学専攻）

著者名(英語): Toshiya Nakamura (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Daisuke Yashiro (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Kazuhiro Yubai (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University), Satoshi Komada (Department of Electrical and Electronic Engineering, Graduate School of Engineering, Mie University)

キーワード: トルク制御，超音波モータ，角速度飽和，直列弾性アクチュエータ，2慣性系　　torque control，ultrasonic motor，angular-velocity saturation，series elastic actuator，two-inertia system

要約(英語): A series elastic actuator (SEA) using an ultrasonic motor (USM) and an elastic element has attracted attention as a compact actuator with high torque-weight ratio and high force control performance. However, an elastic element in a SEA often causes mechanical vibrations. To suppress these vibrations, studies implemented the state feedback of the motor- and load-side angles. However, as the controller has many integrators, the control system becomes unstable when the angular-velocity of the USM is saturated. Therefore, in this study, integrators in the controller were reduced in number. Furthermore, a limit error feedback controller was designed to suppress the windup phenomenon caused by the integrators. The frequency analysis using a describing function showed that stability is guaranteed even if the angular-velocity is saturated. In addition, the experimental results indicate that an overshoot of the torque response is suppressed.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.140 No.5 （2020） 特集：2019年産業応用部門大会

本誌掲載ページ: 378-386 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/140/5/140_378/_article/-char/ja/