로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제15권1호
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  • Pages.77-89
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  • 2020
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법

Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction

  • 투고 : 2019.10.21
  • 심사 : 2019.11.11
  • 발행 : 2020.02.28
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초록

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.

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참고문헌

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