• 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.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2008년도 정기 학술대회
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• pp.555-560
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• 2008

Dynamic interaction analysis between actively controlled Maglev and bridge is carried out. For this, dynamic governing equation for 2-dof Maglev vehicle and optimal feedback control scheme of DOFC are developed. And then the dynamic effect of the 1st natural frequency of bridge, vehicle/bridge mass ratio and damping coefficient of bridge to the both of air-gap variations of UTM-01 maglev vehicle and bridge center maximum displacement response are investigated. From the results of numerical simulation, it is found that the 1st natural frequency of bridge, vehicle/bridge mass ratio and damping coefficient of bridge does not affect greatly within design velocity of the vehicle.