Motion Control of Direct-Drive Motor by a Homogeneous ER Fluid

Abstract

Since a direct-drive (DD) motor system doesn't have the reduction gear, the structure of the servo system can be simple and stiff. On the other hand, in the DD system, the disturbance torque directly influences the accuracy of the motor control. The high servo gain is effective and important for reducing the influence of the disturbance torque. However, the high servo control often makes the control system unstable or vibratory. Therefore, the servo gain must be lowered for assuring stability, and the influence of the disturbance becomes serious. In this study, the DD motor system using an ER fluid damper is discussed. By applying the ER damper to the DD motor system, it is possible to obtain the mechanical damping and to realize a high servo gain in the motion control. Finally, the effectiveness of the proposed system is confirmed experimentally.

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References

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