@inproceedings{23f330722c454a32bf02b26ae576b4f2,
title = "Current Control of Magneto-Rheological Clutch for Robotics Application",
abstract = "The magneto-rheological clutch (MRC) has been used in brakes and clutches. In the field of robotics, the MRC is applied to dynamically change the torque through the current, which requires much higher precision than these traditional use. It is observed that using the simple PI controller results in significant overshoot and ripples in the current control of the MRC and thus degenerate the torque control performance of the MRC. This paper focuses on how to eliminate those to accurately control the MRC current. To solve the huge overshoot, a fuzzy PI control rule is established for the circuit model. It can dynamically change the control parameters and reduce the overshoot by 96 \%. For the noise in the circuit model, this paper proposes a combination of an analog filter and a digital filter, which reduces the ripple current of the circuit model by 80 \%.",
keywords = "Capacitor filter, Fuzzy PI control, Kalman filter, MRC control",
author = "Jiangtao Ran and Guangzeng Chen and Chenguang Bai and Yunjiang Lou",
note = "Publisher Copyright: {\textcopyright} 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; Chinese Intelligent Systems Conference, CISC 2020 ; Conference date: 24-10-2020 Through 25-10-2020",
year = "2021",
doi = "10.1007/978-981-15-8458-9\_9",
language = "英语",
isbn = "9789811584572",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "75--84",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu",
booktitle = "Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II",
address = "德国",
}