アクチュエータ基礎 - onsen-mula.org

1 1 ,29 AC DC DC (SMA,Shape Memoried Alloy) Ti-Ni (actuator)

2 2 FMA(Flexible Micro Actuator) 3 (AC) AC II 4 (DC)

3 DC AC DC 2 3 2 180 3 120 DC 3 CD CD MD CD MD CD MD CD MD DVD DVD 5 OA CD-ROM DVD-ROM

4 MO 6 Q[C] r 3041rQrE [N/C=V/m] 0 rE, r r 231rr r q EFq [N] D ED0 [C/m2] E q qE q dl lElFdqddW B A ABdqWlE [J] C B A A B -- -F F -F F -- -- Q q r B A O r dl E rB rA 7 ABABdVlE [V]

5 Q AB BAABABrrQrdrV11441020 BArr, OA,OB B Br A AAArQdV04 lE I dtdQI [A] AB V dQ dt B A I VdQdW VIdtdQVdtdWP [W] 1820 2 2 8 z ),0,0(z dz )0,0,(:RP 2041rdzE 20sin41rdzE ,R sinsincostan1.

6 Sin,tan,tan2 RrdddddRdzRzzR ,0 RRdRRdRrdzEE000000220202cos4sin4sinsin4s in41 9 I1 r I2 f I2 f rIIf2102 f [N/m] r r 0 A B I r rI 20 B [T] 1820 N B I BIf [N/m] ( )

7 I1 I -f B f I1 I -f f I1 I -f f I1 I -f f B B r r r r B N S r B I I B f 10 f,B,I B IrddCC02 BBlB C S S SdSnB [Wb] H BH01 [A/m] CIdlH B I dl dF BlF )(Idd [N] dQ v dt dl dl vvvldQIdtdtIId )()( N S r B I dl C S dS n B 11 2 BvF dQd v B Q BvF Q E )

8 (BvEF Q 1831 Ve dtdVe B C v dt C C,C V dl vdt d dl C C vdt B 12 lEdVe dtdd)(lvB dl C dt CdtdBd)(lv CCdddtdlBvlvB)()( CedVdtdlE 2 Cd0)

9 (lBvE C v,B,E BvE dl B v lBvlEdddVe )( l lBv )(eV C CedVlBv)( ( ) v B E ],,[)(CBACBA A,B,C ],,[],,[],,[],,[CBACABACBCBA 13 DC DC (direct current servo motor) (stator) (rotor) DC (armature) L,R va(t),i(t) ei(t),Tg(t) Ke,KT (Ke=KT=K) J,B (t), (t) TL(t) DC S N B F F i(t) va(t) va(t))

10 14 F 180 180 180