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首页> 外文期刊>日本機械学会論文集. C編 >Position-Based Impedance Control of Cylinder for Oil Hydraulic Servo Systems
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Position-Based Impedance Control of Cylinder for Oil Hydraulic Servo Systems

机译：油压伺服系统气缸的基于位置的阻抗控制

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摘要

The oil hydraulic cylinder has been used as industrial actuators, because it is inexpensive and also has a high power to weight ratio. However the accurately control of the oil hydraulic actuators is difficult because of very complex and highly nonlinear due to a flow-pressure relationship and large friction forces. Recently, to overcome those problems an impedance and hybrid force/position control concept has been suggested. This paper proposes an impedance control of an oil hydraulic servo system with a position-based approach where an optimal servo system using the LQ optimiza- tion technique is constructed inside the force feedback loop. And also to attain the desired impedance over extensive operating conditions, we use an impedance parameter modulation law. From some experiments, a position-based impedance controller incorporating the optimal servo system shows good static force control ability and excellent performance in dynamic tasks such as collision force reduction.
机译：油压缸已被用作工业执行器，因为它价格便宜并且具有高的功率重量比。然而，由于流量-压力关系和大的摩擦力，由于非常复杂且高度非线性，因此难以精确控制油压致动器。最近，为了克服这些问题，提出了阻抗和混合力/位置控制概念。本文提出了一种基于位置的方法的油压伺服系统的阻抗控制，其中在力反馈回路内构造了使用LQ优化技术的最佳伺服系统。为了在广泛的工作条件下获得所需的阻抗，我们使用了阻抗参数调制定律。通过一些实验，结合了最佳伺服系统的基于位置的阻抗控制器显示出良好的静态力控制能力和出色的动态任务性能，例如减少碰撞力。

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