Modeling and resonance suppression control for electro-hydrostatic actuator as a two-mass resonant system
作者: Tomoki SakumaKenta TsudaKoudai UmedaSho SakainoToshiaki Tsuji
作者单位: 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
DOI: 10.1080/01691864.2017.1392343
关键词: Electro-hydrostatic actuatorHydrostatic transmissionTwo-mass resonant systemFeedback modulatorSelf-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.
全文获取路径: Taylor & Francis  (合作)
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来源刊物:
影响因子:0.51 (2012)

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关键词翻译
关键词翻译
  • actuator 传动机构
  • system 
  • resonance 共振
  • hydrostatic 铃静力的
  • control 控制
  • resonant 共振
  • uncertainty 不定
  • saving 节省
  • cancellation 熄灭
  • suppression 抑制