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...
Main Authors: | Kaixian Ba, Yuan Wang, Xiaolong He, Chunyu Wang, Bin Yu, Yaliang Liu, Xiangdong Kong |
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Format: | Article |
Language: | English |
Published: |
SpringerOpen
2024-03-01
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Series: | Chinese Journal of Mechanical Engineering |
Subjects: | |
Online Access: | https://doi.org/10.1186/s10033-023-00988-1 |
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