可変インピーダンスアクチュエータのためのハイブリッド動的・回生制動スキーム
A Hybrid Dynamic-regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators
DCモータの回生制動効果を利用し、可変インピーダンスアクチュエータで消費されるエネルギーを回収できる新しい可変減衰モジュールを提案した論文。
著者: Fan Wu, Matthew Howard
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Increasing research efforts have been made to improve the energy efficiency of variable impedance actuators (VIAs) through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains underexplored. This study proposes a novel variable damping module design enabling energy regeneration in VIAs by exploiting the regenerative braking effect of DC motors. The proposed damping module uses four switches to combine regenerative and dynamic braking, in a hybrid approach that enables energy regeneration without reduction in the range of damping achievable. Numerical simulations and a physical experiment are presented in which the proposed module shows an optimal trade-off between task performance and energy efficiency.
