کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5007098 | 1461557 | 2017 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Development of rotary hydro-elastic actuator with robust internal-loop-compensator-based torque control and cross-parallel connection spring
ترجمه فارسی عنوان
توسعه عملکرد هیدرولیک کشی دوار با کنترل گشتاور مستقیم بر اساس درون حلقه-جبران کننده و اتصال به مقطع عرضی
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کلمات کلیدی
راه اندازی هیدرولیک، کنترل حرکت، کنترل گشتاور، محرک الاستیک سری، 00-01، 99-00،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
چکیده انگلیسی
Hydraulic actuation systems have high power-to-weight ratio and durability characteristics, but its the non-backdrivability and high output stiffness of hydraulic prevented it from being actively applied to interactive control systems, especially in robotics. This paper describes a force/torque control strategy to address these interactive hydraulic system control problems, with hydro-elastic actuation, which is a combination of a hydraulic actuator with a spring installed on the output side. This configuration simplifies the hydraulic actuator force/torque control problem into a motion control problem. To achieve high performance, first we introduced a robust internal- loop compensator (RIC) for hydraulic motion control, which has equivalent properties to a disturbance observer (DOB) and applicability in non-linear hydraulic actuator dynamics by decoupling the inner-loop compensator and outer-loop controller. This also minimizes sensor requirements and computation costs versus conventional hydraulic motion controllers. Based on this first strategy, second, we propose link-side motion feedback to compensate for undesirable velocity disturbances from the link side to provide high-accuracy torque control for the HEA system. Finally, we propose cross-parallel connection strategy to HEA spring to achieve high durability and deflection linearity Experimental results with custom-designed hardware showed torque controllability, backdrivability, low output impedance, and robustness in linking motion disturbance in time domain zero-torque and stiffness control experiments, without losing much of the high-power potential.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 43, May 2017, Pages 112-123
Journal: Mechatronics - Volume 43, May 2017, Pages 112-123
نویسندگان
Sunkyum Yoo, Jaeyoul Lee, Jaeyeon Choi, Goobong Chung, Wan Kyun Chung,