The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Design of Torque Servo for Impedance Control of Double Vane Rotary Hydraulic Actuator System

더블 베인 회전형 유압 구동시스템의 임피던스 제어를 위한 토크 서보 설계

  • 김선민 (포항공과대학교 기계공학과) ;
  • 최영진 (한양대학교 전자정보시스템공학과) ;
  • 정완균 (포항공과대학교 기계공학과)
  • Received : 2010.04.05
  • Accepted : 2010.05.24
  • Published : 2010.05.31
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Abstract

In order to achieve a force controller with high performance, an accurate torque servo is required. However, the precise torque servo for a double vane rotary actuator system has not been developed till now, due to many nonlinear characteristics and system parameter variations. In this paper, the torque servo structure for the double vane rotary actuator system is proposed based on the torque model. Nonlinear equations are set up using dynamics of the double vane rotary hydraulic actuator system. Then, to derive the torque model, the nonlinear equations are linearized using a taylor series expansion. Both effectiveness and performance of the design of torque servo are verified by torque servo experiments and applying the suggested torque model to an impedance controller.

Keywords

References

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