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기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법 KCI

Title
기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법
Authors
이웅용정완균
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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정완균CHUNG, WAN KYUN
Dept of Mechanical Enginrg
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