ER 클러치 및 브레이크 시스템을 이용한 세탁기 운동 제어

초록

This paper presents a motion control of washing machine using ER clutch and brake actuators. After analyzing field-dependent torque of the actuators on the basis of Bingham model of the ER fluid, two sets of cylindrical ER clutch and brake are manufactured . The governing equation of motion for washing and dehydrating are derived by considering actuators' dynamics. Subsequently, PID controllers are designed to achieve desired rotational motions and tracking control results are provided to demonstrate the effectiveness of the proposed method.