Trajectory Control of Hydraulic Actuator Systems using Feedback Modulator with Unequally Quantized Inputs and Nonlinear Element Model of the Actuator

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  • 不等間隔量子化入力とアクチュエータの非線形要素モデルを用いたフィードバック変調器による油圧駆動システムの軌道制御
  • フトウ カンカク リョウシカ ニュウリョク ト アクチュエータ ノ ヒセンケイ ヨウソ モデル オ モチイタ フィードバック ヘンチョウキ ニ ヨル ユアツ クドウ システム ノ キドウ セイギョ

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Abstract

Recently, several heavy-duty robots using hydraulic actuators have been developed to support rescue operations. However, hydraulic actuators have nonlinear characteristics such as deadzone due to frictions which makes precise rescue operations difficult. To solve this problem, we already proposed a new control method for hydraulic actuator systems by using feedback modulators with equally quantized inputs. However, this method is difficult to set appropriate parameters due to the restriction of equal quantization. In this paper, we propose a new control system for hydraulic actuator systems by using feedback modulator with unequally quantized inputs and nonlinear element model of the actuator witch gives more accurate feedback values to the modulator. The effectiveness of the proposed method is shown by comparing with the previously proposed method.

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