Hydraulic Servo System with Variable Compliance

Toshiyuki Hayase, Kazuhiro Ishizawa, Satoru Hayashi, Ikuro Iimura

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper describes a hydraulic servo system of variable compliance used in the environment of frequent machine-human interaction. Sufficient reliability is critical in such a circumstance, so a mechanical adjustment of compliance of the servo system is considered here. In the present system neutral position of the bridge valve circuit is controlled to adjust the compliance. Mathematical model of the system is derived to study the static and dynamic behavior of the system. In the operating condition with large compliance, the present system has a strong nonlinear characteristic, and the nonlinear control technique of feedback linearization was successfully applied. On the other hand, conventional linear control was applicable for the operating condition of small compliance. Validity of the present servo system was confirmed by experiment.

Original languageEnglish
Pages (from-to)1588-1595
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number621
Publication statusPublished - 1998
Externally publishedYes


  • Closed Center Valve
  • Digital Control
  • Feedback Linearization
  • Nonlinear Control
  • Numerical Analysis
  • Oil Hydraulics
  • OpenCenter Valve
  • Servo Mechanism
  • Variable Compliance

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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