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Abstract:
Direct-drive (DD) motors have the characteristics of simple structure
and high controllability without reduction gears. However, DD motors are
more sensitive to the disturbance and parameter variation than other
motors which have reduction gears. Enhancement of the stiffness of DD
motors is one of effective methods to reduce these influence on the
accuracy of the systems, but very high stiffness will lead to unstable,
even become vibratory. Viewed from mechatronics design, a
variable-viscous electrorheological (ER) fluid damper whose viscous
coefficient depends upon the applicable voltage is designed, and
directly attached on the shaft of DD motor to achieve high servo
stiffness control. The structure of the variable – viscous ER damper is
presented, and the viscous coefficient model of the designed damper is
developed. The validation of this mechatronics design is demonstrated
with a simulation of the position PD control DD motor system.
Key words:
Direct-drive motors Mechatronice System stiffness
Electrorheological fluid damper
CLC No: TH-39 TH166
国家自然科学基金、中科院国家天文观测中心大射电望远镜实验室基金及陕西省自然科学基金资助项目. Received 20000807,
received in revised form 20010412
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