Abstract
Hydraulic servos are characterised by their highperformance nature but due to their size and weight are not suitable for robotics where new legged applications require high power density and excellent dynamic behaviour in a small size. As an answer to this need a new class of integrated smart actuators is being developed. These systems consist of a servo valve, hydraulic cylinder, sensors and a controller all in a single device. This paper outlines the detailed modelling of the smart actuator for use in simulation and control design. The result is a model consisting of the dynamics of the novel ultra-low leakage servovalve, the valve flow characteristics considering the properties of each spool land, the single-ended cylinder with friction and the pressure losses in the supply and return lines to the actuator. The models are a combination of empirical and theoretical development, validated with experimental data. The smart actuator's unique properties; compactness, weight and efficiency, combined with high-performance hydraulics make it well suited to mobile robot applications.
Original language | English |
---|---|
Title of host publication | BATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020 |
Publisher | American Society of Mechanical Engineers (ASME) |
Number of pages | 10 |
ISBN (Electronic) | 9780791883754 |
DOIs | |
Publication status | E-pub ahead of print - 21 Oct 2020 |
Event | BATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020 - Virtual, Online Duration: 9 Sept 2020 → 11 Sept 2020 |
Publication series
Name | BATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020 |
---|
Conference
Conference | BATH/ASME 2020 Symposium on Fluid Power and Motion Control, FPMC 2020 |
---|---|
City | Virtual, Online |
Period | 9/09/20 → 11/09/20 |
Bibliographical note
Publisher Copyright:Copyright © 2020 ASME.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
Keywords
- Electrohydraulic servo
- Integrated actuator
- Mobile robotics
- Modelling
- Servovalve
ASJC Scopus subject areas
- Fluid Flow and Transfer Processes
- Control and Systems Engineering