Title :
The Nonlinear Accuracy Model of Electro-Hydrostatic Actuator
Author :
Kang, Rongjie ; Jiao, Zongxia ; Wu, Shuai ; Shang, Yaoxing ; Mare, Jean-Charles
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing
Abstract :
The electro-hydrostatic actuator (EHA) is a kind of power-by-wire (PBW) actuator. In this paper, a typical architecture of EHA is described and the block diagram model of EHA is established directly from the mathematic equations without transfer functions, which is a nonlinear accuracy model. The influence of refeeding circuit on the EHA system is discussed based on the comparison with conventional linear model. A gain-variable PID controller is introduced to this model to compensate the friction.
Keywords :
electrohydraulic control equipment; block diagram model; electrohydrostatic actuator; gain-variable PID controller; mathematic equations; nonlinear accuracy model; power-by-wire actuator; refeeding circuit; transfer functions; Brushless DC motors; Circuits; DC motors; Equations; Friction; Hydraulic actuators; Induction motors; Mathematical model; Mathematics; Power system modeling; EHA; block diagram; control; modeling;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681367
