DEVELOPMENT OF FRICTION FREE CONTROLLER FOR ELECTRO-HYDROSTATIC ACTUATOR USING FEEDBACK MODULATOR AND DISTURBANCE OBSERVER
作者: Sho SakainoToshiaki Tsuji
刊名: Robotics, 2017, Vol.4 (1), pp.1-10
来源数据库: Inventi
DOI: 10.1186/s40648-016-0070-2
原始语种摘要: Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this study considered the integration of feedback modulators (with minimum control inputs exceeding static frictional forces) with disturbance observers. In the proposed controller, nonlinear static frictional forces are suppressed by the feedback modulators and linear disturbances are suppressed by the disturbance observers. The validity was experimentally verified in this study.
全文获取路径: Inventi 
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关键词翻译
关键词翻译
  • hydraulic 水力的
  • degrade 降低
  • suitable 合适的
  • suppressed 被抑制的
  • frictional 摩擦塑料
  • exceeding 过度的
  • increase 增加
  • integration 集成
  • construction 构造
  • robustness 坚固性