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首页> 外文会议>DSC-vol.73-1; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition pt.A; 20041113-19; Anaheim,CA(US) >FORCE AND POSITION CONTROL OF A SOLENOID INJECTED MONOPROPELLANT POWERED ACTUATOR
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FORCE AND POSITION CONTROL OF A SOLENOID INJECTED MONOPROPELLANT POWERED ACTUATOR

机译：螺线管单桨推进式电动执行机构的力和位置控制

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摘要

This paper describes the control of a direct-injection, liquid monopropellant powered actuation system, which was developed for the purpose of providing mechanical power to autonomous human-scale robots. The actuation system utilizes the catalytic decomposition of a monopropellant as a hot gas generator for powering a pneumatic actuator. Pressurization of the respective sides of a pneumatic actuator is provided via solenoid injection valves, which control the flow of the monopropellant through a catalyst pack into the respective sides of the cylinder. Depressurization is provided by a three-way proportional spool valve, which proportionally exhausts one of the two cylinder chambers. This paper describes a controller that coordinates the control of the two discrete injection valves, together with the control of the proportional exhaust valve, in order to provide actuator force tracking. The controller is implemented on a prototype system with a closed-loop servo controller. Experimental results indicate effective position and force tracking.
机译：本文描述了直接喷射液体单推进剂驱动的致动系统的控制，该系统的开发目的是为自主的大规模机器人提供机械动力。致动系统利用单推进剂的催化分解作为热气发生器为气动致动器提供动力。通过螺线管喷射阀对气动执行器的两侧加压，该电磁阀控制单推进剂通过催化剂组进入气缸各侧的流量。减压由三通比例滑阀提供，该滑阀按比例排放两个气缸室之一。本文介绍了一种控制器，该控制器协调两个离散喷射阀的控制以及比例排气阀的控制，以提供执行器力跟踪。该控制器在带有闭环伺服控制器的原型系统上实现。实验结果表明有效的位置和力跟踪。

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