Search

Your search keyword '"Servo actuator"' showing total 2 results
Start Over Descriptor "Servo actuator" Journal ieee access
2 results on '"Servo actuator"'

1. High-Gain Observer-Based Sliding Mode Force Control for the Single-Rod Electrohydraulic Servo Actuator

Author

Guosheng Xu, Nianli Lu, and Guangming Lv

Subjects
High-gain observer, sliding mode control, chattering-free, servo actuator, force control, Electrical engineering. Electronics. Nuclear engineering, TK1-9971
Abstract

A high-gain observer based sliding mode force control system for the single-rod servo actuator is presented in this paper. In order to track the desired force, full states for feedback are needed. Since only the output force is measured, a high-gain observer with easy implementation and calibration is designed for the estimation of the unavailable states. Then the sliding mode controller is proposed and a continuously varying function instead of the traditional sign function is used to constitute the switching term of the control input which takes the distance of the system states from the sliding surface into account. So the chattering phenomena are eliminated. The stability of the closed-loop force control system is analyzed by the singular perturbation method and simulations show the effectiveness of the proposed force control method for the single-rod electrohydraulic servo actuator.

Published
2019
Full Text
View/download PDF

2. Active Compliance Control on the Hydraulic Quadruped Robot With Passive Compliant Servo Actuator

Author

Zisen Hua, Xuewen Rong, Yibin Li, Hui Chai, and Shuaishuai Zhang

Subjects
0209 industrial biotechnology, quadruped robot, General Computer Science, passive compliance, Computer science, Feedback control, Control (management), General Engineering, Feed forward, Hydraulic actuator, impact force, 02 engineering and technology, Electrohydraulic servo valve, Compliance method, 020901 industrial engineering & automation, active compliance, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Robot, 020201 artificial intelligence & image processing, General Materials Science, lcsh:Electrical engineering. Electronics. Nuclear engineering, Actuator, lcsh:TK1-9971, Servo actuator
Abstract

A hydraulic servo actuator with passive compliance (HPCA) is designed for hydraulic actuated quadruped robots, aiming to solve the response discrepancy of the low-bandwidth servo valve to impact forces between robot's feet and the ground. This paper focuses on the performance of this passive compliance method combined with an active compliance control strategy when used on quadruped robots. First, the frequency-response characteristics of the HPCA are further discussed. Then, combined with the requirements of the quadruped robot, a compliant method characterized by incorporating dynamic feedforward control and joint angle feedback control items into the virtual model is proposed. Finally, both the new algorithm and the performance of the HPCA are verified by simulation and experiment. The results demonstrate that, compared with the original actuator, the frequency-response characteristics of the HPCA have better adaptability for the quadruped robot, while the efficiency of the active compliance control is also improved by this novel passive compliance strategy.

Published
2019

Catalog

Books, media, physical & digital resources
See catalog results