Development of a Cross-Coupled Two Degrees of Freedom Direct-Drive Motor

• Project/Area Number: 26289071
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Yokohama National University
• Principal Investigator: Shimono Tomoyuki 横浜国立大学, 大学院工学研究院, 准教授 (90513292)
• Co-Investigator(Kenkyū-buntansha): 河村 篤男 横浜国立大学, 工学(系)研究科(研究院), 教授 (80186139) ; 藤本 康孝 横浜国立大学, 工学(系)研究科(研究院), 教授 (60313475)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Project Status: Completed (Fiscal Year 2016)
• Budget Amount: ¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000); Fiscal Year 2016: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2015: ¥6,240,000 (Direct Cost: ¥4,800,000、Indirect Cost: ¥1,440,000); Fiscal Year 2014: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
• Keywords: 電気機器工学 / モーションコントロール / 制御工学 / モータドライブ / パワーエレクトロニクス / ハプティクス

Outline of Final Research Achievements

In this research, a tubular cross-coupled two degrees of freedom direct-drive motor was developed. The mathematical model of the proposed motor was established. The validity of it was confirmed from FEM analysis and experiments on the prototype. The motion control algorithm for this motor was also presented. As a result, the utility of the proposed motor from the viewpoint of application to motion system was demonstrated. The research plan could perfectly be accomplished.

Research Products

• [Journal Article] Thrust Characteristics Improvement of a Circular Shaft Motor for Direct-Drive Applications (2015)
  • Author(s): Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto
  • Journal Title: IEEE Transactions on Industry Applications Volume: vol. 51, no. 5 Issue: 5 Pages: 3647-3655
  • DOI: 10.1109/tia.2015.2421275
  • Peer Reviewed / Acknowledgement Compliant
• [Presentation] Force Control of Tubular Two-DOF Cross-Coupled Motor (2017)
  • Author(s): Tomoyuki Shimono, Shodai Tanaka, and Yasutaka Fujimoto
  • Organizer: Mechatronik2017
  • Place of Presentation: ドレスデン（ドイツ）
  • Year and Date: 2017-03-09
  • Int'l Joint Research
• [Presentation] Verification of Robust Position Control on a Cross-Coupled 2-DOF Direct Drive Actuator (2015)
  • Author(s): S. Tanaka, T. Shimono, and Y. Fujimoto
  • Organizer: The 41th Annual Conference of the IEEE Industrial Electronics Society (IECON2015)
  • Place of Presentation: パシフィコ横浜（横浜、神奈川）
  • Year and Date: 2015-11-09
  • Int'l Joint Research
• [Presentation] 円筒クロスカップル形二自由度ダイレクトドライブモータの直動と回転の同時性と独立性に関する実験評価 (2015)
  • Author(s): 田中翔大，下野誠通，藤本康孝
  • Organizer: 第33回日本ロボット学会学術講演会
  • Place of Presentation: 東京電機大学（東京）
  • Year and Date: 2015-09-03
• [Presentation] Deveploment of a Haptic Platform Driven by Semicircular Linear Motors (2015)
  • Author(s): Hiroshi Asai, Mototsugu Omura, Tomoyuki Shimono and Yasutaka Fujimoto
  • Organizer: The 1st IEEJ International Workshop on Sensing, Actuation, and Motion Control (SAMCON2015)
  • Place of Presentation: 名古屋工業大学（愛知県名古屋市）
  • Year and Date: 2015-03-09 – 2015-03-10
  • Invited
• [Presentation] Optimal Design of Length Factor for Cross-Coupled 2-DOF Motor with Halbach Magnet Array (2015)
  • Author(s): Shodai Tanaka, Tomoyuki Shimono, and Yasutaka Fujimoto
  • Organizer: The 2015 IEEE International Conference on Mechatronics (ICM2015)
  • Place of Presentation: 名古屋工業大学（愛知県名古屋市）
  • Year and Date: 2015-03-06 – 2015-03-08
• [Presentation] Bilateral Control of a Half-circle-shaped Tubular Linear Motor with Disturbance Model Based on Trigonometric Function of Two Variables (2014)
  • Author(s): Hiroshi Asai, Mototsugu Omura, Tomoyuki Shimono and Yasutaka Fujimoto
  • Organizer: The 7th International Conference on Information and Automation for Sustainability (ICIAfS2014)
  • Place of Presentation: Galadari Hotel (Colombo, Sri Lanka)
  • Year and Date: 2014-12-22 – 2014-12-24
• [Presentation] Thrust Characteristic Comparison between Axial Magnetization and Quasi-Halbach Magnetization of Circular Shaft Motor (2014)
  • Author(s): Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto
  • Organizer: The 10th France-Japan and the 8th Europe-Asia Congress on Mechatronics (Mecatronics2014)
  • Place of Presentation: 首都大学東京（東京都八王子市）
  • Year and Date: 2014-11-27 – 2014-11-29
• [Presentation] Development of a Cross-Coupled 2DOF Direct Drive Motor (2014)
  • Author(s): Shodai Tanaka, Tomoyuki Shimono, and Yasutaka Fujimoto
  • Organizer: The 40th Annual Conference of the IEEE Industrial Electronics Society (IECON2014)
  • Place of Presentation: Sheraton Hotel Dallas (Dallas, U.S.A.)
  • Year and Date: 2014-10-29 – 2014-11-01
• [Presentation] 推力/トルク向上のためのハルバッハ配列磁石によるクロスカップル形二自由度モータの設計 (2014)
  • Author(s): 田中翔大，下野誠通，藤本康孝
  • Organizer: 第32回日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] クロスカップル形平面二自由度ダイレクトドライブモータの設計と基礎解析 (2014)
  • Author(s): 山口柊平，田中翔大，野崎貴裕，下野誠通，藤本康孝
  • Organizer: 第32回日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学（福岡県福岡市）
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] Thrust Characteristics Improvement of a Circular Shaft Motor for Direct-Drive Applications (2014)
  • Author(s): Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto
  • Organizer: 2014 International Power Electronics Conference (IPEC-Hiroshima2014-ECCE-ASIA)
  • Place of Presentation: 広島国際会議場（広島県広島市）
  • Year and Date: 2014-05-18 – 2014-05-21
• [Remarks] 下野研究室
  • URL: http://www.tsl.ynu.ac.jp/index.html