Development of a Model - Based Impedance Controller for Electrohydraulic Servos
نویسندگان
چکیده
In this paper, a model-based impedance controller for electrohydraulic servosystems is developed. Rigid body and electrohydraulic models, including servovalve models are employed and described by a set of integrated system equations. Friction and leakage of hydraulic elements are also included. The control law consists of two signals, a feedback and a feedforward signal. An impedance filter modifies a desired trajectory according to a specified behaviour. The modified trajectory is fed to a simplified system model to reduce the effects of the nonlinear hydraulic dynamics. An example one degree of freedom servomechanism is studied. Simulations with typical desired trajectories are presented and a good performance of the controller is obtained.
منابع مشابه
Impedance Model-based Control for an Electrohydraulic Stewart Platform
In this paper, a novel model-based impedance controller for a 6-degree-of-freedom (dof) electrohydraulic Stewart platform mechanism is developed. Rigid body and experimentally developed electrohydraulic models, including servovalve, friction and leakage models are employed and described by a set of integrated system equations. Despite the fact that an electrohydraulic servoactuator is not a sou...
متن کاملAn Adaptive Impedance Controller for Robot Manipulators
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...
متن کاملModel-based control of a 6-dof electrohydraulic Stewart–Gough platform
In this paper, a novel model-based controller for a six Degree-of-Freedom (dof) electrohydraulic Stewart–Gough platform is developed. Dynamic models of low complexity are employed that describe the salient dynamics of the main electrohydraulic components. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are used. The developed feedback controller ...
متن کاملVariable Impedance Control for Rehabilitation Robot using Interval Type-2 Fuzzy Logic
In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...
متن کاملHaptic Joystick in Admittance Control of Electrohydraulic Drive
In the paper the application of haptic joystick with magneto-rheological (MR) brake in control of electrohydraulic drive is presented. Two impedance and admittance control methods are shown. Basing on main equations describing electrohydraulic drive, the simulation model of an admittance control system is proposed. The results of chosen simulations are presented. Laboratory test stand is descri...
متن کامل