Control of three-degree-of-freedom resonant actuator driven by novel vector control

Abstract

This paper presents a novel vector control method for three-degree-of-freedom resonant actuator in order to improve its controllability. The effectiveness of the presented method is verified through electromagnetic field analysis using 3-D finite element method:
 Issue: A three-degree-of-freedom resonant actuator has a great potential to broaden the application range of linear oscillatory actuators because it has a lot of advantages: high efficiency, simple structure, etc. However, this actuator has low controllability because the magnetic structure of each axis is not independent.
 Aim: To establish a novel vector control technique suitable for our actuator.
 Materials and methods of the studies: Electromagnetic analysis employing 3-D finite element method.
 Results: In this study, the novel vector control theory was constructed on the basis of four-phase system. The new dq model was achieved by considering 3-D coordinate transformation. The proposed method is able to decrease the influence of thrust interference from other axis and achieved higher controllability.
 Conclusion: The results of the study will contribute to a practical use of the three-DOF resonant actuator.

Design and Analysis of Five-Degree-of-Freedom Oscillatory Actuator

“…To solve these problems, various types of multiple-DOF OAs are proposed and developed [5][6][7][8][9]. The multiple-DOF OA can generate multiple-DOF motion only one device.…”

“…The two-DOF OA can drive two-DOF with only two-coils and two-phase [6], it has a flat structure and was designed for a haptic interface. The three-DOF resonance actuator can drive three-DOF with four-coils and fourphase [7,8], it has an axial gap structure. The three-DOF OA can drive three-DOF with three-coils and three-phase [9], it has a cubic shape.…”