DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이웅용 | - |
dc.contributor.author | 정완균 | - |
dc.date.accessioned | 2020-08-14T03:50:32Z | - |
dc.date.available | 2020-08-14T03:50:32Z | - |
dc.date.created | 2020-03-24 | - |
dc.date.issued | 2020-02 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/103967 | - |
dc.description.abstract | 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. | - |
dc.language | Korean | - |
dc.publisher | 한국로봇학회 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.title | 기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법 | - |
dc.title.alternative | Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction | - |
dc.type | Article | - |
dc.identifier.doi | 10.7746/jkros.2020.15.1.077 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.15, no.1, pp.77 - 89 | - |
dc.identifier.kciid | ART002560357 | - |
dc.citation.endPage | 89 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 77 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 15 | - |
dc.contributor.affiliatedAuthor | 이웅용 | - |
dc.contributor.affiliatedAuthor | 정완균 | - |
dc.description.journalClass | 2 | - |
dc.description.journalClass | 2 | - |
dc.description.isOpenAccess | N | - |
dc.type.docType | ARTICLE | - |
dc.subject.keywordAuthor | Mechanical Impedance | - |
dc.subject.keywordAuthor | Robust Control | - |
dc.subject.keywordAuthor | Dynamic Motion Control | - |
dc.subject.keywordAuthor | Torque Tracking Control | - |
dc.subject.keywordAuthor | Natural Velocity Feedback Effect | - |
dc.description.journalRegisteredClass | kci | - |
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