Abstract
The effectiveness of ZVD signal shaping in a closed
loop for a hydraulic system is demonstrated. This is done by
implementing a control loop first in a simple simulation of a
single hydraulic actuator with a simple mass as loading. The
control loop is then validated experimentally on a 2-link
articulated hydraulic robot leg. Placing a ZVD filter inside a
closed-loop proportional controller improves performance
without the use of high-speed controllers or acceleration
feedback which may be otherwise needed in order to achieve
good position control performance of hydraulic actuators.
loop for a hydraulic system is demonstrated. This is done by
implementing a control loop first in a simple simulation of a
single hydraulic actuator with a simple mass as loading. The
control loop is then validated experimentally on a 2-link
articulated hydraulic robot leg. Placing a ZVD filter inside a
closed-loop proportional controller improves performance
without the use of high-speed controllers or acceleration
feedback which may be otherwise needed in order to achieve
good position control performance of hydraulic actuators.
| Original language | English |
|---|---|
| Publication status | Published - 2012 |
| Event | Mechatronics 2012: The 13th Mechatronics Forum International Conference - Linz, Austria Duration: 17 Sept 2012 → 19 Sept 2012 |
Conference
| Conference | Mechatronics 2012: The 13th Mechatronics Forum International Conference |
|---|---|
| Country/Territory | Austria |
| City | Linz |
| Period | 17/09/12 → 19/09/12 |