Journal of the Korea Academia-Industrial cooperation Society (한국산학기술학회논문지)

The Korea Academia-Industrial cooperation Society (한국산학기술학회)
권호 표지
DOI QR코드

DOI QR Code

Speed Control Of The Magnet Gear-Based Speed Reducer For Non-contact Power Transmission

비접촉 동력 전달을 위한 마그네트 기어 기반 감속기의 속도 제어에 관한 연구

  • Jung, Kwang Suk (Department of Mechanical Engineering, Korea National University of Transportation)
  • 정광석 (한국교통대학교 기계공학과)
  • Received : 2016.04.27
  • Accepted : 2016.07.07
  • Published : 2016.07.31
Download PDF
⟨ Previous Next ⟩

Abstract

Using the magnet gear, it is possible to transmit power without mechanical contact. As the drive shaft in a magnet gear-based speed reducer system is isolated from the drive shaft, the system is a two-inertia resonance system that should cope with an external load with the limited air-gap stiffness. On the other hand, the drive shaft or low-speed side is controlled only by the torque of the drive shaft through an air-gap, and the excessive oscillation or the slip can then be generated because of an abrupt disturbance that is different from the general mechanical gear system. Therefore, the disturbance loaded at the low speed side should be measured or estimated, and considered in the control of the driving shaft. This paper proposes a novel full-state feedback controller with a reduced-order observer for the speed reducer system using a magnet gear with a unified harmonic modulator. The control method was verified by simulation and experiment. To estimate the load at the low speed side, a novel observer was designed, in which the new state variable is introduced and the new state equation is formulated. Using a full-state feedback controller including the observer, the test result against disturbance was compared with two D.O.F PI speed controllers. The pole slip was compensated within relatively a short time, and the simulation result about the estimated variable shows a similar tendency to the test result. The test results showed that the magnet gear-based reducer can be applied to an accurate servo system.

마그네트 기어를 이용하면 기계적인 접촉없이 동력을 전달할 수 있다. 마그네트 기어 기반 감속 시스템에서 종동축은 구동축으로부터 분리되어있기 때문에 시스템은 제한된 공극 강성으로 부하 변화에 대응해야하는 2관성 공진 시스템이다. 종동축 즉, 저속측은 구동축 인가 토크만으로 제어되고 갑작스런 외란에 따라 일반적인 기계식 기어 시스템과 달리 과도한 진동이나 슬립이 발생할 수 있다. 따라서 저속측에 인가되는 부하 등의 외란은 실시간으로 측정되거나 추정되어야 한다. 본 논문에서는 고조파 조절기 일체형 마그네트 기어를 이용한 감속 시스템의 저속측 속도 제어를 위한 전상태 되먹임 제어기를 제안하고 이를 전산 모의 시험과 실험을 통해 검증하였다. 저속측 부하를 추정하기 위해 새로운 상태변수를 도입하여 관측기를 설계하였으며 이를 기반으로 하는 전상태 제어기를 통한 외란에 대한 강건성은 2자유도 PI 속도 제어기와 비교하였다. 상대적으로 짧은 시간안에 극의 슬립이 보정되는 것을 확인하였으며 추정된 변수는 실제 측정 결과와 유사한 경향을 나타내었다. 이러한 결과는 마그네트 기어 감속기의 서보 시스템으로의 응용 가능성을 담보해주는 결과인 것으로 판단된다.

Keywords

References

  1. P. Rasmussen, T. Andersen, F. Jorgensen, O. Nielsen, "Development of a high-performance magnetic gear", IEEE Transactions on Industry Applications, Vol. 41, No. 3, pp. 764-770, 2005. DOI: http://dx.doi.org/10.1109/TIA.2005.847319
  2. K. Atallah, S. D. Calverley, D. Howe, "Design, analysis and realisation of a high performance magnetic gear", IEE Proc.-Electr. Power Appl, Vol. 151, No. 2, pp. 135-143, 2004. DOI: http://dx.doi.org/10.1049/ip-epa:20040224
  3. L. Jian, G. Xu, Y. Gong, J. Song, J. Liang, M. Chang, "Electromagnetic design and analysis of a novel magnetic-gear-integrated wind power generator using time-stepping finite element method", Progress in Electromagnetics Research, Vol. 113, pp. 351-367, 2011. DOI: http://dx.doi.org/10.2528/PIER10121603
  4. L. Jian, K. T. Chau, "Design and analysis of an integrated halbach-magnetic-geared permanent -magnet motor for electric vehicles", J. of Asian Electric Vehicles, Vol. 7, No. 1, pp. 1213-1219, 2009. DOI: http://dx.doi.org/10.4130/jaev.7.1213
  5. Y. J. Oh, T. J. Lho, "Development of non-contact conveyor for clean process by applying magnet gears", J. of Korea Academia-Industrial Cooperation Society, Vol. 11, No. 10, pp. 3633-3640, 2010. DOI: http://dx.doi.org/10.5762/KAIS.2010.11.10.3633
  6. F. Jorgensen, T. Andersen, P. Rasmussen, "The cycloid permanent magnetic gear", IEEE Transactions on Industry Applications, Vol. 44, No. 6, pp. 1659-1665, 2008. DOI: http://dx.doi.org/10.1109/TIA.2008.2006295
  7. O. Chirila, D. Stola, M. Cernat, K. Hamayer, "High-performance magnetic gears topologies", P IEEE-Proc.-12th Int. Conf. on Optimization of Electrical and Electronic Equipment(OPTIM 2010), pp. 1091-1096, 2010. DOI: http://dx.doi.org/10.1109/optim.2010.5510496
  8. E. Gouda, S. Mezani, L. Baghli, A. Ressoug, "Comparative study between mechanical and magnetic planetary gears", J. IEEE Transactions on Magnetics, Vol. 47, No. 2, pp. 439-450, 2011. DOI: http://dx.doi.org/10.1109/TMAG.2010.2090890
  9. R. Montague, C. Bingham, K. Atallah, "Servo control of magnetic gears", IEEE/ASME Transactions on Mechatronics, Vol. 17, No. 2, pp. 269-278, 2012. DOI: http://dx.doi.org/10.1109/TMECH.2010.2096473
  10. S. J. Lee, K. S. Jung, "Characteristic study of a magnet gear speed reducer with a unified harmonic modulator", J. Korean Soc. Manuf. Technol. Eng., Vol. 24, No. 3, pp. 348-354, 2015. DOI: http://dx.doi.org/10.7735/ksmte.2015.24.3.348
  11. K. S. Jung, "Speed increasing or decreasing apparatus using permanent magnets and electric motor having the speed increasing or decreasing apparatus", KOR Patent, No. 1014628320000, 2014.