기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법
KCI
- Title
- 기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법
- Authors
- 이웅용; 정완균
- Date Issued
- 2020-02
- Publisher
- 한국로봇학회
- Abstract
- This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/103967
- DOI
- 10.7746/jkros.2020.15.1.077
- ISSN
- 1975-6291
- Article Type
- Article
- Citation
- 로봇학회 논문지, vol. 15, no. 1, page. 77 - 89, 2020-02
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