Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Force Compensation Control for Electro-Hydraulic Servo System with Pump–Valve Compound Drive via QFT–DTOC

Abstract Each joint of a hydraulic-driven legged robot adopts a highly integrated hydraulic drive unit (HDU), which features a high power–weight ratio. However, most HDUs are throttling-valve-controlled cylinder systems, which exhibit high energy losses. By contrast, pump control systems offer a hig...

Full description

Bibliographic Details
Main Authors: Kaixian Ba, Yuan Wang, Xiaolong He, Chunyu Wang, Bin Yu, Yaliang Liu, Xiangdong Kong
Format: Article
Language:English
Published: SpringerOpen 2024-03-01
Series:Chinese Journal of Mechanical Engineering
Subjects:
Legged robot
Pump–valve compound drive system (PCDS)
Force compensation control
Quantitative feedback theory (QFT)
Disturbance torque observer (DTO)
Online Access:https://doi.org/10.1186/s10033-023-00988-1

Internet

https://doi.org/10.1186/s10033-023-00988-1

Similar Items