Speed control and sensorless force control with magnetic gear

Hiroki Komiyama, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper describes a study of the speed control and sensorless force control with non-contact magnetic transmission system (the magnetic gear). The magnetic gear has various features. For example, this device is characterized by negligibly small friction because of transmitting torque without contact. However, the magnetic gear introduces a cogging torque and a spring characteristic because it transmits torque via magnetism. Therefore, we applied various control method to reject the disturbances such as cogging torque in speed control. Additionally, using the magnetic gear for force control is primary candidate. If the magnetic gear is applied to a robot manipulator, force control can be performed without using a force sensor because of non-contact. We conducted experiments to examine the sensorless force control using an experimental magnetic geared device, and we verified the promising possibility for the sensorless feedback.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages325-330
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Conference

Conference2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Komiyama, H., & Uchimura, Y. (2010). Speed control and sensorless force control with magnetic gear. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 325-330). [5464112] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464112