دورية أكاديمية
기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법 ; Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction
| العنوان: | 기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법 ; Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction |
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| المؤلفون: | 이웅용, 정완균 |
| المساهمون: | 이웅용, 정완균 |
| بيانات النشر: | 한국로봇학회 |
| سنة النشر: | 2020 |
| المجموعة: | Pohang University of Science and Technology (POSTECH): Open Access System for Information Sharing (OASIS) |
| مصطلحات موضوعية: | Mechanical Impedance, Robust Control, Dynamic Motion Control, Torque Tracking Control, Natural Velocity Feedback Effect |
| الوصف: | 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. ; 2 ; 2 ; N ; kci |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | Korean |
| تدمد: | 1975-6291 |
| العلاقة: | 로봇학회 논문지; https://oasis.postech.ac.kr/handle/2014.oak/103967Test; 40586; 로봇학회 논문지, v.15, no.1, pp.77 - 89; ART002560357 |
| DOI: | 10.7746/jkros.2020.15.1.077 |
| الإتاحة: | https://doi.org/10.7746/jkros.2020.15.1.077Test https://oasis.postech.ac.kr/handle/2014.oak/103967Test |
| رقم الانضمام: | edsbas.FED5884F |
| قاعدة البيانات: | BASE |
| تدمد: | 19756291 |
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| DOI: | 10.7746/jkros.2020.15.1.077 |