TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Impedance Control of Hydraulic Series Elastic Actuator with a Model-Based Control Design

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
KustantajaIEEE
Sivut966-971
Sivumäärä6
ISBN (elektroninen) 978-1-7281-6794-7
ISBN (painettu)978-1-7281-6795-4
DOI - pysyväislinkit
TilaJulkaistu - elokuuta 2020
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE/ASME International Conference on Advanced Intelligent Mechatronics -
Kesto: 1 tammikuuta 1900 → …

Julkaisusarja

NimiIEEE/ASME International Conference on Advanced Intelligent Mechatronics
ISSN (painettu)2159-6247
ISSN (elektroninen)2159-6255

Conference

ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics
Ajanjakso1/01/00 → …

Tiivistelmä

Traditional mechanical actuators are designed with a high stiffness, which increases the system bandwidth. The operation of stiff actuator in uncertain environments is a challenging task due to physical interactions with the environment. Series elastic actuators (SEAs) have become the prominent method for decreasing stiffness between power output shafts and the environment in electric torque-controlled light arm applications. Compared to lightweight arms, the hydraulic actuated SEAs (HSEAs) can provide a much higher power-to-weight ratio. However, the control design for an HSEA is a challenging task due to the high non-linear dynamics of hydraulic systems. In this study, a novel subsystem-dynamics-based controller for an HSEA is designed using the virtual decomposition control (VDC) approach as a framework. The designed controller is incorporated as an inner-loop controller for previously designed a novel impedance controller. The one degrees-of-freedom (DOF) experimental setup is used to verify the control performance of the proposed controller.

Julkaisufoorumi-taso

Tilastokeskuksen tieteenalat