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

Research Project

Project/Area Number 26289071
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Power engineering/Power conversion/Electric machinery
Research InstitutionYokohama 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 *help
¥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.

Report

(4 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Annual Research Report
  • 2014 Annual Research Report

Research Products

(13 results)

All 2017 2015 2014 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results,  Acknowledgement Compliant: 1 results) Presentation (11 results) (of which Int'l Joint Research: 2 results,  Invited: 1 results) Remarks (1 results)

  • [Journal Article] Thrust Characteristics Improvement of a Circular Shaft Motor for Direct-Drive Applications2015

    • Author(s)
      Mototsugu Omura, Tomoyuki Shimono, and Yasutaka Fujimoto
    • Journal Title

      IEEE Transactions on Industry Applications

      Volume: vol. 51, no. 5 Pages: 3647-3655

    • DOI

      10.1109/tia.2015.2421275

    • Related Report
      2015 Annual Research Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Presentation] Force Control of Tubular Two-DOF Cross-Coupled Motor2017

    • 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
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Verification of Robust Position Control on a Cross-Coupled 2-DOF Direct Drive Actuator2015

    • 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
    • Related Report
      2015 Annual Research Report
    • 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
    • Related Report
      2015 Annual Research Report
  • [Presentation] Deveploment of a Haptic Platform Driven by Semicircular Linear Motors2015

    • 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
    • Related Report
      2014 Annual Research Report
    • Invited
  • [Presentation] Optimal Design of Length Factor for Cross-Coupled 2-DOF Motor with Halbach Magnet Array2015

    • 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
    • Related Report
      2014 Annual Research Report
  • [Presentation] Bilateral Control of a Half-circle-shaped Tubular Linear Motor with Disturbance Model Based on Trigonometric Function of Two Variables2014

    • 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
    • Related Report
      2014 Annual Research Report
  • [Presentation] Thrust Characteristic Comparison between Axial Magnetization and Quasi-Halbach Magnetization of Circular Shaft Motor2014

    • 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
    • Related Report
      2014 Annual Research Report
  • [Presentation] Development of a Cross-Coupled 2DOF Direct Drive Motor2014

    • 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
    • Related Report
      2014 Annual Research Report
  • [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
    • Related Report
      2014 Annual Research Report
  • [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
    • Related Report
      2014 Annual Research Report
  • [Presentation] Thrust Characteristics Improvement of a Circular Shaft Motor for Direct-Drive Applications2014

    • 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
    • Related Report
      2014 Annual Research Report
  • [Remarks] 下野研究室

    • URL

      http://www.tsl.ynu.ac.jp/index.html

    • Related Report
      2016 Annual Research Report 2015 Annual Research Report 2014 Annual Research Report

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Published: 2014-04-04   Modified: 2018-03-22  

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