• Title/Summary/Keyword: 강인내부루프보상기

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Robust Internal-loop Compensation of Pump Velocity Controller for Precise Force Control of an Electro-hydrostatic Actuator (EHA의 정밀 힘제어를 위한 펌프 속도 제어기의 강인 내부루프 보상)

  • Kim, Jong-Hyeok;Hong, Yeh-Sun
    • Journal of Drive and Control
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    • v.15 no.4
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    • pp.55-60
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    • 2018
  • 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.