• 제목/요약/키워드: Electro-Hydraulic Actuator System

검색결과 53건 처리시간 0.028초

전기 정유압 구동기를 적용한 유압식 동력 조향 시스템 (A Hydraulic Power Steering System Based on Electro Hydrostatic Actuator)

  • 리쯔밍;이지민;박성환;김종식;박용호
    • 동력기계공학회지
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    • 제15권6호
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    • pp.86-94
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    • 2011
  • In this paper, an electro hydraulic power steering system based on electro hydrostatic actuator (EHA) is proposed. A detailed steering model for the proposed electro hydraulic power steering system including mechanical and hydraulic subsystems is established. A conventional electro hydraulic power steering system is also modeled to evaluate the performance of the proposed power steering system such as responsiveness, assist force, command tracking and steering feel by computer simulation. From the computer simulation results, it is found that the proposed power steering system based on EHA has desirable performance.

전기-유압 액추에이터를 이용한 굴삭기 에너지 절감에 관한 기초 연구 (A study on Energy Saving of the Excavator using Electro-Hydraulic Actuator)

  • 윤홍수;안경관;이병룡;강종민;김재홍
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2008년도 추계학술대회A
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    • pp.801-805
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    • 2008
  • Today, hydraulic systems play an important role in modern industry for the reasons that hydraulic actuator systems take many advantages over other technologies with high durability and the ability to produce large forces at high speeds. In recent years, electro-hydraulic actuator systems, which combine electric and hydraulic technology into a compact unit, have been adapted to a wide variety of force, speed and torque requirements. Moreover these systems resolve energy consumption and noise problems characteristic existed in the conventional hydraulic systems. Therefore, these systems have a wide range application fields especially in an excavator. So the purpose of this paper is to demonstrate efficiency of the energy saving and present some control algorithms which apply to electro-hydraulic actuator system in the bucket of the excavator. Experiments are carried out to verify the effectiveness of the proposed system with various external loads as in real working conditions.

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전기유압식 스프링복귀 액추에이터 정특성 (Static Characteristics of Electro-Hydraulic Spring Return Actuator)

  • 정규홍
    • 드라이브 ㆍ 컨트롤
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    • 제9권2호
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    • pp.8-14
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    • 2012
  • Electro-hydraulic spring return actuator(ESRA) is utilized for air conditioning facilities in a nuclear power plant. It features self-contained, hydraulic power that is integrally coupled to a single acting hydraulic cylinder and provides efficient and precise linear control of valves as well as return of the actuator to the de-energized position upon loss of power. In this paper, the algebraic equations of ESRA at steady-state have been developed for the analysis of static characteristics that includes control pressure and valve displacement of pressure reducing valve, flow force on flapper as well as its displacement over the entire operating range. Also, the effect of external load on piston deviation is investigated in terms of linear system analysis. The results of static characteristics show the unique feature of force balance mechanism and can be applied to the stable self-controlled mechanical system design of ESAR.

EHA(Electro-Hydrostatic Actuator) 위치제어 시스템의 모델링 및 제어 (Identification and Control of Position Control System for Electro-Hydraulic Actuator (EHA))

  • 박용호;박성환
    • 동력기계공학회지
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    • 제15권2호
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    • pp.69-77
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    • 2011
  • In this paper, an optimal PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(ERA) systems with system uncertainties and saturation in the motor. An ERA prototype is developed and system modeling and parameter identification are executed. Then, optimal PID and optimal anti-windup PID controller are designed based on identified system model by using optimization toolbox in MA TLAB/Simulink and the performance of the two control systems are compared by experiment. It was found that the optimal anti-windup PID control system has better performance than the optimal anti-windup PID control system.

자가 변위 측정이 가능한 전기-유압식 소프트 지핑 구동기의 개발 (Development of an Electro-hydraulic Soft Zipping Actuator with Self-sensing Mechanism)

  • 이동영;곽보건;배준범
    • 로봇학회논문지
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    • 제16권2호
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    • pp.79-85
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    • 2021
  • Soft fluidic actuators (SFAs) are widely utilized in various areas such as wearable systems due to the inherent compliance which allows safe and flexible interaction. However, SFA-driven systems generally require a large pump, multiple valves and tubes, which hinders to develop a miniaturized system with small range of motion. Thus, a highly integrated soft actuator needs to be developed for implementing a compact SFA-driven system. In this study, we propose an electro-hydraulic soft zipping actuator that can be used as a miniature pump. This actuator exerts tactile force as a dielectric liquid contained inside the actuator pressurized its deformable part. In addition, the proposed actuator can estimate the internal dielectric liquid thickness by using its self-sensing function. Besides, the electrical characteristics and driving performance of the proposed system were verified through experiments.

EHRA의 위치제어를 위한 적응 PID 제어기 설계 (Position control of an Electro-Hydrostatic Rotary Actuator using adaptive PID control)

  • 하태욱;전기호;응우엔 민 찌;한성민;신정우;안경관
    • 드라이브 ㆍ 컨트롤
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    • 제14권4호
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    • pp.37-44
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    • 2017
  • This paper introduces a control algorithm for trajectory control of an electro-hydrostatic rotary actuator. A key feature of this paper is that an adaptive PID based on sliding mode is used to control the nonlinearity and uncertainty factor of single input/output system. Accurate knowledge of rotary actuator angle can result in high-performance and efficiency of electro hydraulic system. First, the position control is formulated using the adaptive PID with sliding mode technique and uncertainties in the hydraulic system. Second, the controller can update the PID gains on-line based on error caused by external disturbance and uncertain factors in the system. Finally, three experimental cases were studied to evaluate the proposed control method.

기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법 (Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction)

  • 이웅용;정완균
    • 로봇학회논문지
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    • 제15권1호
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    • pp.77-89
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    • 2020
  • This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.

비례솔레노이드 액추에이터를 이용한 압력제어밸브 (Pressure Control Valve using Proportional Electro-magnetic Solenoid Actuator)

  • 함영복;박평원;윤소남
    • 대한기계학회논문집A
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    • 제30권10호
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    • pp.1202-1208
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    • 2006
  • This paper presents an experimental characteristics of electro-hydraulic proportional pressure control valve. In this study, poppet and valve body which are assembled into the proportional solenoid were designed and manufactured. The constant force characteristics of proportional solenoid actuator in the control region should be independent of the plunger position in order to be used to control the valve position in the fluid flow control system. The stroke-force characteristics of the proportional solenoid actuator is determined by the shape (or parameters) of the control cone. In this paper, steady state and transient characteristics of the solenoid actuator for electro-hydraulic proportional valve are analyzed using finite element method and it is confirmed that the proportional solenoid actuator has a constant attraction force in the control region independently on the stroke position. The effects of the parameters such as control cone length, thickness and taper length are also discussed.

동축 회전형 스풀을 가진 전기 유압 서어보 위치 제어기를 이용한 크레인의 원격제어 (Remote control scheme for cranes using electro-hydraulic servo positioner with coaxial rotary spool)

  • 김홍집;김경진;현웅근;서일홍;오상록
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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    • pp.693-697
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    • 1990
  • A position control system is developed for an electro-hydraulic servo actuator with coaxial rotary spool, where the actuator is controlled by stepping motor. The position control system is utilized to develop the wireless remotely controlled crane system. And remote engine control system is also developed. Finally, to show the validity of this system, some experimental results and field test results am presented.

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틸팅 부하메커니즘 특성 분석을 위한 유압식 부하특성 평가 장치구성에 대한 연구 (A Study on a Configuration of the Load Characteristic Evaluation Device Using Hydraulic Power for the Analysis of the Tilting Kinetic Mechanism)

  • 이준호;김호연;한성호
    • 한국소음진동공학회논문집
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    • 제21권12호
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    • pp.1152-1158
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    • 2011
  • In this paper a configuration of the load evaluation device for the tilting actuator using hydraulic power is presented, which makes it possible to measure the force action on the tilting actuator. It is possible to measure only current using the conventional electro-mechanical actuator when the bogie is in the process of the tilting. This makes impossible to measure the force acting on the tilting actuator. In order to overcome this problem a kinetic mechanism test system using hydraulic cylinder is proposed. The system are consisted of hydraulic cylinder for the tilting actuation, control system to control hydraulic power, sensors to measure for force and displacement and monitoring system for the user interface.