Variable Damping Control for pHRI: Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots

2019 ◽

Vol 39 (3) ◽

pp. 787-802 ◽

Cited By ~ 3

Author(s):

Mingde Gong ◽

Hao Chen

Keyword(s):

Control Strategy ◽

Ride Comfort ◽

Active Suspension ◽

Suspension System ◽

Heavy Vehicles ◽

Damping Force ◽

Damping Control ◽

Motion State ◽

Variable Damping ◽

Work First

A semi-active suspension variable damping control strategy for heavy vehicles is proposed in this work. First, a nine-degree-of-freedom model of a semi-active suspension of heavy vehicles and a stochastic road input mathematical model are established. Second, using a 1/6 vehicle as an example, a semi-active suspension system with damping that can be adjusted actively is designed using proportional relief and throttle valves. The damping dynamic characteristics of the semi-active suspension system and the time to establish the damping force are studied through a simulation. Finally, a variable damping control strategy based on an actuator motion state is proposed to adjust the damping force of the semi-active suspension system actively and therefore satisfy the vibration reduction requirements of different roads. Results show that the variable damping control suspension can substantially improve vehicle ride comfort and handling stability in comparison with a passive suspension.

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Force-Dependent Variable Damping Control for Positioning Task Assist

Journal of the Robotics Society of Japan ◽

10.7210/jrsj.25.306 ◽

2007 ◽

Vol 25 (2) ◽

pp. 306-313 ◽

Cited By ~ 10

Author(s):

Naoyuki Takesue ◽

Ryo Kikuuwe ◽

Akihito Sano ◽

Hiromi Mochiyama ◽

Hideaki Sawada ◽

...

Keyword(s):

Damping Control ◽

Variable Damping

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Modeling, Control, and Validation of Electrohydrostatic Shock Absorbers

Journal of Vibration and Acoustics ◽

10.1115/1.4028310 ◽

2015 ◽

Vol 137 (1) ◽

Cited By ~ 4

Author(s):

Renato Galluzzi ◽

Andrea Tonoli ◽

Nicola Amati

Keyword(s):

Dynamic Performance ◽

Working Environment ◽

Modeling And Control ◽

Active Devices ◽

Shock Absorbers ◽

Damping Control ◽

Variable Damping ◽

And Control ◽

Damping Systems

The implementation of variable damping systems to increase the adaptability of mechanical structures to their working environment has been gaining increasing scientific interest, and numerous attempts have been devoted to address vibration control by means of active and semi-active devices. Although research results seem promising in some cases, the proposed solutions are often not able to fulfill requirements in terms of compactness and simplicity on one hand, and dynamic performance on the other. In this context, the present paper discusses the modeling and control of an electrohydrostatic actuation (EHA) system for its implementation as a damping device. A model of the device is proposed and analyzed for design purposes. Subsequently, a damping control strategy is presented. Finally, a case study introduces and validates an EHA prototype for helicopter rotor blade lead–lag damping.

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Hybrid Variable Damping Control: Design, Simulation, and Optimization

ASME 2013 Conference on Information Storage and Processing Systems ◽

10.1115/isps2013-2940 ◽

2013 ◽

Author(s):

Roberto Ribeiro ◽

Mir Behrad Khamesee ◽

Amir Khajepour

Keyword(s):

Variable Component ◽

Worst Case ◽

Variable Threshold ◽

Hybrid Variable ◽

Simulation And Optimization ◽

Damping Control ◽

Optimal Damping ◽

Variable Damping ◽

Damper Design ◽

Hybrid Damper

Damping in a multitude of engineering applications has a variable threshold requirement based on system excitation. Since system excitation is also variable; dampers are designed such that a maximum amount of damping is provided (based on the worst case for a structure), opposed to an optimal amount as a function of excitation. By implementing a hybrid damper design based on a bias component provided through a hydraulic medium and a variable component provided by electromagnetics; an optimal damping quantity can be obtained for a given excitation.

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