|作者：||Tomoki Sakuma, Kenta Tsuda, Koudai Umeda, Sho Sakaino, Toshiaki Tsuji|
1Graduate School of Science and Engineering , Saitama University , Saitama , Japan .
2JST, PRESTO , Saitama , Japan .
|刊名：||Advanced Robotics, 2018, Vol.32 (1), pp.1-11|
|来源数据库：||Taylor & Francis Journal|
|关键词：||Electro-hydrostatic actuator; Hydrostatic transmission; Two-mass resonant system; Feedback modulator; Self-resonance cancellation;|
|原始语种摘要：||Abstract(#br)Electro-hydrostatic actuators (EHAs) possess excellent power/weight ratio and space-saving properties. However, uncertainty exists with respect to the presence of non-linear behaviors and dynamic characteristics. Servo pumps, hydraulic motors, and oil-filled pipes can be regarded as motors, loads, and springs, respectively. Hence, EHAs can be modeled as two-mass resonant systems. In this paper, we show a parameter identification method for modeling EHAs as two-mass resonant systems. Then, in order to suppress the effect of resonance, self-resonance cancellation technique is implemented. As a result, phase delay is significantly improved in the position tracking.|