Title :
Impedance control of electro hydraulic servo system using input output linearization
Author :
Shin, Donghoon ; Kim, Wonhee ; Lee, Youngwoo ; Won, Daehee ; Chung, Chung Choo
Author_Institution :
Dept. of Electr. Eng., Hanyang Univ., Seoul, South Korea
Abstract :
In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.
Keywords :
electrohydraulic control equipment; linear systems; servomechanisms; transfer functions; electro hydraulic servo system; external force; impedance control method; input output linearization; steady-state position; transfer function; velocity error; Dynamics; Equations; Force; Impedance; Pistons; Steady-state; Transfer functions; Impedance control; hydraulic actuator;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0