Abstract
Acad. Publ., World Publ. Corp. Traditionally, actuators for hinge motions are constructed from d.c. motors and reduction gears. This kind of motion actuator is simple to control, but it has a complex mechanical structure, and is it costly, expensive and requires maintenance. In this paper, a low-cost direct-drive motion hinge actuator based on variable reluctance principle has been developed. Variable reluctance actuator has a simple and robust structure, and it is widely used as low cost switching actuator in many applications. However, it has not gain widespread acceptance as a proportional actuator due to its inherent nonlinear control characteristics. In this paper, the problem is overcome by using a novel control strategy based on 21 nonlinear lookup table. The paper first describes the design, construction, fabrication and operating principle of the variable reluctance actuator. After the variable reluctance actuator has been fabricated, essential electrical and mechanical characteristics are measured. Then, a novel nonlinear control algorithm for the trajectory tracking of this actuator has been proposed. The proposed algorithm is implemented on a digital signal processor to control the motion of variable reluctance actuator in trajectory profile following mode. Results from the implementation show that the vaiiable reluctance actuator can be controlled with high degree of speed and accuracy. This makes the actuator ideal for hinge motions of artificial limbs, and as a motion aid for the physically handicapped person.
Original language | English |
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Title of host publication | Proceedings - IPEMC 2000 |
Subtitle of host publication | 3rd International Power Electronics and Motion Control Conference |
Publisher | IEEE |
Pages | 716-721 |
Number of pages | 6 |
Volume | 2 |
ISBN (Electronic) | 780003464X, 9787800034640 |
DOIs | |
Publication status | Published - 1 Jan 2000 |
Event | 3rd International Power Electronics and Motion Control Conference, IPEMC 2000 - Beijing, China Duration: 15 Aug 2000 → 18 Aug 2000 |
Conference
Conference | 3rd International Power Electronics and Motion Control Conference, IPEMC 2000 |
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Country/Territory | China |
City | Beijing |
Period | 15/08/00 → 18/08/00 |
Keywords
- Artificial joint
- Nonlinear control
- Variable reluctance actuator
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Control and Systems Engineering
- Mechanical Engineering
- Electrical and Electronic Engineering