NDLI: Control of Linear Motor in Motion Generator for Active Impedance

Content Provider	IEEE Xplore Digital Library
Author	Woo Seok Choi Sang Yeol Seo Se-Han Lee Sung Hyun Han
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Design, Kyungnam Univ., Gyeongnam (Woo Seok Choi; Sang Yeol Seo)
Abstract	In this research a 2-dimensional arm motion generator composed of two linear motors was developed. The inertia, damping and/or stiffness characteristics of the motion generator can be changed on the real-time basis by properly regulating the force generated by the linear motors. That is, active impedance is implemented without actual change in the physical structure of the motion generator. Control of the motor force is carried out by regulating the input currents supplied to the linear motors by using a common voltage-driven driver. In the control system the time delay due to A/D conversion of the current output has an adverse effect on the stability of the system. Furthermore, disturbances caused by characteristics of the motion generator exist. To cope with these difficulties, 2-DOF controller combined with the LQ-servo and H-infinity controller was used. The gains of the controller are selected so that disturbance rejection, stability guarantee and tracking performance may be achieved. This motion generator can be used to measure kinesthetic sense associated with the human arm and thus leads to developing the products for which the kinesthetic sense is taken into account
Starting Page	3474
Ending Page	3479
File Size	6670913
Page Count	6
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315167
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Motion control Impedance Character generation Stability Damping Force control Voltage control Current supplies Control systems Delay effects Linear Motor Arm Motion Generator Active Impedance 2-DOF Controller H-infinity controller
Content Type	Text
Resource Type	Article

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