Modeling and resonance suppression control for electro-hydrostatic actuator as a two-mass resonant system. (2nd January 2018)

• Record Type: Journal Article
• Authors: Sakuma, Tomoki; Tsuda, Kenta; Umeda, Koudai; Sakaino, Sho; Tsuji, Toshiaki
• Is Part Of: Advanced robotics. Volume 32:Number 1(2018)
• Page Start: 1
• Page End: 11
• Publication Date: 2018-01-02
• Subjects: Electro-hydrostatic actuator -- hydrostatic transmission -- two-mass resonant system -- feedback modulator -- self-resonance cancellation; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2017.1392343
• Languages: English
• ISSNs: 0169-1864

Abstract

Abstract: Electro-hydrostatic actuators (EHAs) possess excellent power/weight ratio and space-saving properties. However, uncertainty exists with respect to the presence of non-linear behaviors and dynamic characteristics. Servo pumps, hydraulic motors, and oil-filled pipes can be regarded as motors, loads, and springs, respectively. Hence, EHAs can be modeled as two-mass resonant systems. In this paper, we show a parameter identification method for modeling EHAs as two-mass resonant systems. Then, in order to suppress the effect of resonance, self-resonance cancellation technique is implemented. As a result, phase delay is significantly improved in the position tracking. Graphical Abstract: