1 July 2010, h.10:00 - Sala Riunioni DTG (Vi)
Hiroshi Fujimoto - Koichi Sakata - Sehoon Oh
University of Tokyo, Tokyo, Japan
- Part I (Prof. Hiroshi Fujimoto): Motion Control of Electric Vehicle
Recently, electric vehicles (EVs) have attracted attention because they are a promising solution to energy and environmental problems. In addition, EVs have potential applications in control engineering. Since electric motors and inverters are utilized in drive systems, these systems are more advantages than internal combustion engine vehicles (ICVs). These advantages are as follows.
- Quick torque response: An electric motors' torque response is 100-500 times faster than of ICVs.
- Easy motor torque measurement: In ICVs, it is difficult to measure the output accurately. On the other hand, the output torque of an electric motor can be easily measured from the current.
- Individual wheel control: Electric motors such as in-wheel motors are very small.
Therefore, a motor can be attached to each wheel. Then, all wheels can be controlled independently.
Because of these advantages, electric motors can be used for the control of EVs. Our research group has proposed a traction control system that prevents wheel slip on slippery roads and yaw-rate control that helps nominalize the yaw dynamics of EVs equipped with in-wheel motors. In part I, these results will be introduced.
- Part II (Dr. Koichi Sakata): Nano-scale servo systems
LCD production equipment (exposure system) is one of typical nano-scale servo system. This system has large-scale high-precision stages. Fast and precise positioning control is required in order to improve throughput and product quality.
Then, exposure system is classified into scanner type and stepper type. Especially, scanner type is required not only fast and precise positioning but also the attitude control of the stage and synchronous position control of the stages. In this part, these precise positioning techniques will be introduced.
- Part III (Dr. Sehoon Oh): Human-friendly Robotics
Assistive devices including humanoid robots are highlighted. Motion control should play a significant role in this assistive devices. This talk is about key technologies of motion control design for this assistive device application. First is force sensor less impedance control that will modify the mechanical characteristics of devices utilizing the quick response of motors. The second is the biarticular muscle robotics that is studied to exploit the musculoskeletal characteristics of human and animals. Experimental results and mathematical analysis based on simulation will be given.
If you are interested in meeting with the speakers, please contact
Prof. Roberto Oboe, roberto.oboe AT unipd.it