Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.11a
- /
- Pages.225-229
- /
- 1996
- /
- 2005-8446(pISSN)
Position Control of a Moving Table Using ER Brake and ER Clutch
ER 브레이크와 클러치를 이용한 이송 테이블의 위치 제어
Abstract
This paper presents an active position control of a moving table utilizing ER(electro-rheological) brake and ER clutch. A transformer oil-based ER fluid is composed and its Bingham properties are evaluated with respect to electric fields. The dynamics of the actuators : ER brake and ER clutch, are identified through experiments, and subsequently the governing equation of motion of the moving table system is formulated from the governing equation, a sliding mode controller is designed to achieve an accurate position control. Both simulation and experimental results and presented in order to demonstrate the effectiveness of the proposed control methodology.
Keywords