Robust Velocity Control for Electromagnetic Friction Brake Based on Disturbance Observer

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2023/09/01

タイトル(英語): Robust Velocity Control for Electromagnetic Friction Brake Based on Disturbance Observer

著者名: Masaki Takeuchi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

著者名(英語): Masaki Takeuchi (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: disturbance observer，electromagnetic friction brake，rehabilitation，velocity control

要約(英語): This paper presents a method for robust velocity control of electromagnetic friction brakes for constant velocity (isokinetic) training in rehabilitation. Rehabilitation treatments using robots have become an attractive option due to labor shortages. In robot rehabilitation, isokinetic exercises are a form of highly efficient training. In rehabilitation machines, passive machines (brakes and clutches) are commonly utilized because they are inexpensive and safe. We focus on electromagnetic friction (EF) brakes which have a higher torque-to-weight ratio than magneto-rheological and powder brakes. Owing to such characteristics, the size and weight of the rehabilitation robots can be reduced by using EF brakes. Consequently, it can reduce the burden on subjects. Although EF brakes generate high torque, they have hysteresis and offset torque, which deteriorates the control performance. This paper proposes three contributions of an EF brake. First, the analysis and modeling of the EF brake are proposed. Second, a disturbance observer is proposed for the EF brake. The proposed method can design the disturbance suppression characteristics independent of the tracking performance. Finally, a robust velocity control scheme that considers the sign of the velocity for isokinetic exercises is proposed. The proposed method is compared with the conventional proportional-integral controller and its effectiveness is experimentally confirmed.

本誌: IEEJ Journal of Industry Applications Vol.12 No.5 （2023）

本誌掲載ページ: 876-884 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/12/5/12_22004484/_article/-char/ja/