Browse > Article
http://dx.doi.org/10.7839/ksfc.2018.15.4.055

Robust Internal-loop Compensation of Pump Velocity Controller for Precise Force Control of an Electro-hydrostatic Actuator  

Kim, Jong-Hyeok (Aerospace & Mechanical Engineering, Graduate School, Korea Aerospace University)
Hong, Yeh-Sun (Aerospace & Mechanical Engineering, Korea Aerospace University)
Publication Information
Journal of Drive and Control / v.15, no.4, 2018 , pp. 55-60 More about this Journal
Abstract
Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.
Keywords
Electro-hydrostatic Actuator; Force Control; Servomotor; Velocity Control; Dynamic Response; Robust Internal-loop Compensator; Backdrivability;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 B. K. Kim and W. K. Chung, "Design of Robust Motion Controllers with Internal-loop Compensator", Transactions of the Korean Society of Mechanical Engineers A, Vol.25, No.10, pp.1501-1513, 2001.   DOI
2 S. K. Yoo et al., "Development of rotary hydroelastic actuator with robust internal-loop-compensatorbased torque control and cross-parallel connection spring", Mechatronics, Vol.43, pp.112-123, 2017.   DOI
3 B. K. Kim et al., "Robust Internal Loop Compensator Design for Motion Control of Precision Linear Motor", Proc. IEEE Int. Symp. Industrial Electronics, pp.1045-1050, 1999.
4 MITSUBISHI ELECTRIC, MR-J4-_A Servo Amplifier Instruction Manual, pp.6/1-6/23, 2012.
5 J. S. Cho, "A Study of Hydraulic Actuator Based On Electro Servo Valve For A Walking Robot", Journal of Drive and Control, Vol.13, No.2, pp.26-33, 2016.   DOI
6 T. Boaventura et al., "On the Role of Load Motion Compensation in High-Performance Force control", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4066-4071, 2012.
7 J. H. Kim and Y. S. Hong, "Comparison of Force Control Characteristics Between Double-Rod and Single-Rod Type Electro-Hydrostatic Actuators (I): Tracking Performance", Journal of Drive and Control, Vol.14, No.4, pp.9-16, 2017.   DOI
8 N. S. Nise, Control Systems Engineering 5th Ed., John Wiley & Sons, Inc., New Jersey, pp.333-340, 2008.