Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   MARCH 2017 , Volume 16 , Number 12 #F0074; Page(s) 227 To 238.
 
Paper: 

TORQUE CONTROL OF A HYBRID ACTUATOR IN THE PRESENCE OF PARAMETRIC UNCERTAINTIES AND PHYSICAL CONSTRAINTS

 
 
Author(s):  ABEROOMAND VAHID, FESHARAKIFARD RASUL*, KAMALI EIGOLI ALI
 
* DEPARTMENT OF MECHANICAL ENGINEERING, AMIRKABIR UNIVERSITY OF TECHNOLOGY, TEHRAN
 
Abstract: 

In electromagnetic motors, increase in output torque leads to increase in rotor inertia. Various robotics applications, especially haptic interfaces, necessitate convenient dynamic performances of electromagnetic motors which are in turn strongly influenced by the rotor’s inertia. In the present paper, a robust control method for a viscous hybrid actuator is developed which supplies a desired varying torque while maintaining a constant low inertia. This hybrid actuator includes two dc motors with the shafts coupled through a rotational damper using a viscous non-contact coupler. This coupling method is based on Eddy current to provide the required performances. The large far motor eliminates or reduces the inertial forces and external dynamics effects on the actuator. The small near motor provides the desired output torque. Since the system is essentially linear, the applied robust control method is based on H¥ and parametric uncertainties and physical constraints including motors’ voltages saturation, rotary damper’s speed saturation, fastest user’s speed and acceleration applied to the actuator and force sensor noise are considered in its design. Also, the robust method of m-synthesis for the system in presence of parameteric uncertainties and other physical constraints is studied. At the end, the proposed control system’s performance (H¥ optimal control) is compared to the previous controller [1] with whole physical constraints and the results indicate the performance improvement. The implementation of the controller on a 1 dof haptic interface model validates the achievement of the desired performances.

 
Keyword(s): HYBRID ACTUATOR, HAPTIC INTERFACE, DC MOTOR TORQUE CONTROL, ROBUST CONTROL, PARAMETRIC UNCERTAINTY
 
References: 
  • ندارد
 
  Persian Abstract Yearly Visit 31
 
Latest on Blog
Enter SID Blog