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...

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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

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