Valve characterization to implement feed-forward control of hydraulically actuated joints
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2009
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| Online Access: | http://hdl.handle.net/1721.1/45763 |
| _version_ | 1826198036713308160 |
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| author | Carey, Abby (Abby M.) |
| author2 | Wai K. Cheng and Andreas Hofmann. |
| author_facet | Wai K. Cheng and Andreas Hofmann. Carey, Abby (Abby M.) |
| author_sort | Carey, Abby (Abby M.) |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008. |
| first_indexed | 2024-09-23T10:57:51Z |
| format | Thesis |
| id | mit-1721.1/45763 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:57:51Z |
| publishDate | 2009 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/457632019-04-12T09:58:58Z Valve characterization to implement feed-forward control of hydraulically actuated joints Carey, Abby (Abby M.) Wai K. Cheng and Andreas Hofmann. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008. Includes bibliographical references (leaf 39). This thesis characterizes the flow behavior of a Hydraforce SP08-47CL valve given a specific pulse-width modulation (pwm) duty cycle. With a description of valve behavior, a feed-forward term can be implemented in the positional control loop of a hydraulically actuated robotic prototype. In order to isolate valve behavior, a test bed apparatus consisting of three separate hydraulic cylinders was constructed to decouple joint movement, and multiple tests were conducted, recording cylinder velocities given a constant pwm signal at a system pressure of 3.45MPa. After theoretically justifying the empirical results, a quadratic and bi-linear curve fit to the data provided a practical solution to an otherwise computationally expensive problem. by Abby Carey. S.B. 2009-06-30T16:13:40Z 2009-06-30T16:13:40Z 2008 2008 Thesis http://hdl.handle.net/1721.1/45763 318361765 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 39 leaves application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Carey, Abby (Abby M.) Valve characterization to implement feed-forward control of hydraulically actuated joints |
| title | Valve characterization to implement feed-forward control of hydraulically actuated joints |
| title_full | Valve characterization to implement feed-forward control of hydraulically actuated joints |
| title_fullStr | Valve characterization to implement feed-forward control of hydraulically actuated joints |
| title_full_unstemmed | Valve characterization to implement feed-forward control of hydraulically actuated joints |
| title_short | Valve characterization to implement feed-forward control of hydraulically actuated joints |
| title_sort | valve characterization to implement feed forward control of hydraulically actuated joints |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/45763 |
| work_keys_str_mv | AT careyabbyabbym valvecharacterizationtoimplementfeedforwardcontrolofhydraulicallyactuatedjoints |