Speed control and sensorless force control with magnetic gear

Komiyama, Hiroki; Uchimura, Yutaka

doi:10.1109/amc.2010.5464112

Cited by 4 publications

(3 citation statements)

References 8 publications

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“…The advantages of magnetic gears over the mechanical ones, such as reduced acoustic noise, inherent overload protection [10] as well as the possibility to achieve sensorless force/torque control [11], make them also attractive for implementation in smaller applications, such as robotics. In this paper, a magnetic gear which is intended to be used as a part of a small robotic actuator with torque capability of 1 Nm is designed and manufactured.…”

Section: Introductionmentioning

confidence: 99%

Modeling, design and experimental validation of a small-sized magnetic gear

Zanis

Borisavljevic

Jansen

et al. 2013

2013 International Conference on Electrical Machines and Systems (ICEMS)

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A bstract -A magnetostat i c analyt i cal model i s created to analyze and design a small-s i zed magnet i c gear for a robot i c appl i cat i on. Through a parameter var i at i on study, i t i s found that the i nner rotor magnet height i s h i ghly i ntluent i al to the torque, and based on wh i ch, the design i s performed. Several magnet i c gears w i th d i fferent rotor pole pa i r comb i nat i ons are designed to suffice the required gear ratio, taking into account manufactur i ng constra i nts of such a small dev i ce. A des i gn i s chosen to be manufactured consider i ng the following criteria: mater i al cost, cogg i ng torque level and rotat i onal st i ffness. Measurement and 3D FEM s i mulat i on results indicate that discrepanc i es between the expected and measured torque as well as effic i ency ar i se due to ax i al tlux leakage, wh i ch becomes severe i n the presence of bear i ngs. Meanwh i le, a frequency response measurement result shows that the first resonant mode i n the magnet i c gear, wh i ch has i mpl i cat i ons on control, can be well est i mated given the s i mulated values of rotat i onal st i ffness, damp i ng, and rotor i nert i a and thus could actually be ant i c i pated early i n the design phase.

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Section: Introductionmentioning

confidence: 99%

Modeling, design and experimental validation of a small-sized magnetic gear

Zanis

Borisavljevic

Jansen

et al. 2013

2013 International Conference on Electrical Machines and Systems (ICEMS)

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“…However, magnets are used for force transmission in magnetic gears, and controllability worsens because of pole slip and cogging torque that occur when the allowed torque is exceeded, or because of the spring characteristics related to the magnets' attraction and repulsion [5]. However, magnets are used for force transmission in magnetic gears, and controllability worsens because of pole slip and cogging torque that occur when the allowed torque is exceeded, or because of the spring characteristics related to the magnets' attraction and repulsion [5].…”

Section: Introductionmentioning

confidence: 99%

“…Usually, disturbances and other influences must be suppressed in robot control. However, magnets are used for force transmission in magnetic gears, and controllability worsens because of pole slip and cogging torque that occur when the allowed torque is exceeded, or because of the spring characteristics related to the magnets' attraction and repulsion [5]. There have been a number of studies of the mechanical and magnetic characteristics of magnetic gears.…”

Section: Introductionmentioning

confidence: 99%

Contactless magnetic gear for robot control application

Komiyama

Uchimura

2013

Electrical Engineering Japan

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This paper describes the application of a magnetic gear to a robot by fulfilling the essential requirements for a robot control, which are velocity control, position control, and force control. A magnetic gear is a transmission device that realizes contactless torque transmission by applying a magnetic force. When using a magnetic gear, cogging torque and spring characteristics need to be considered. In this paper, we introduce an approximate model of cogging torque. This model is used for velocity control to attenuate the disturbance due to cogging torque. In the case of position control, the oscillations due to the spring effect of the magnetic attractive force become a problem. To reduce the adverse effect due to these oscillations, resonance ratio control is applied. We also propose to use a magnetic gear for realizing force sensorless bilateral control of teleoperation. Because of the frictionless transmission of a magnetic gear, the force sensorless estimation of a reaction force can be realized using a reaction force observer.

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