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RISS 인기검색어
- 검색키워드
- 저자 : Tomoyuki Shimono (검색결과 2 건)
- 무료
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Development of DC Linear Permanent Magnet Machine Based on Multi-Layered Core-less Structure
Tomoyuki Shimono,Shunya Takano,Hiroshi Asai 전력전자학회 2019 ICPE(ISPE)논문집 Vol.2019 No.5
In this paper, a new DC linear permanent magnet machine (LPMM) with multi-layered structure is proposed. This motor can realize high thrust density in the middle layer owing to the core-less structure. Since it alternately stacks permanent magnet modules and winding modules, it can adjust the thrust characteristics by changing the number of layers. In this paper, the basic concept of the proposed motor is firstly introduced. Secondly, the mathematical modelling of the proposed motor is shown. Then, the FEM analysis verifies the stacking effect in the multi-layered structure. Furthermore, the prototype is shown and the proposed motor is validated by experimental results. The observed difference among mathematical results, analysis results, and experimental results is discussed.
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Application of Soft Actuation to Bilateral Control and Haptic Reproduction
Asif Šabanovi´c,Tarik Uzunovi´c,Eray A. Baran,Minoru Yokoyama,Tomoyuki Shimono 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.3
The main research topic of this paper is to apply the sliding mode based soft actuation to smooth transition between position, force, and impedance control, and realize bilateral control and reproduction of the haptic motion. The proposed design rests on the sliding mode two steps procedure: in the first step, the generalized error - the sliding mode function - is selected in such a way that a closed loop system exhibits a desired dynamics. In the soft actuation method, the generalized error depends on the position and the force, thus allowing the modification of the position tracking if interaction with the environment appears. In the second step, the control is selected to enforce the desired convergence rate and the stability of the closed loop dynamics. The control allows “natural-human-like” behavior. The application to the bilateral control and reproduction of the haptic motion is discussed in detail and verified by experiments.
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