Abstract
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 language | English |
|---|---|
| Pages (from-to) | 1588-1595 |
| Number of pages | 8 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 64 |
| Issue number | 621 |
| DOIs | |
| Publication status | Published - 1998 |
| Externally published | Yes |
Keywords
- 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