A Study on the Dynamic Characteristics Improvement of Direct Drive Electro-mechanical Actuation System using Dynamic Force Feedback Control

2017 ◽  
Vol 45 (4) ◽  
pp. 328-341 ◽  
Author(s):  
Hee-Joong Lee ◽  
E-Sok Kang ◽  
Ohseop Song
Keyword(s):  
Feedback Control ◽  
Dynamic Characteristics ◽  
Force Feedback ◽  
Dynamic Force ◽  
Direct Drive ◽  
Actuation System ◽  
Mechanical Actuation

scholarly journals PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

Energies ◽  
2020 ◽  
Vol 13 (5) ◽  
pp. 1125 ◽  
Author(s):  
Chenyang Zhang
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Dynamic Characteristics ◽  
Control Strategy ◽  
Dynamic Pressure ◽  
Control Input ◽  
Servo Motor ◽  
Direct Drive ◽  
Pressure Feedback ◽  
Current Coupling

In order to ensure good dynamic characteristics, servo valve is usually adopted as the drive part of Stewart manipulator which causes huge power consumption, while direct drive electro-hydraulic servo system has the advantages of energy saving, simple structure, convenient installation, and low failure rate. But its dynamic characteristics are so poor that it can only be applied to occasions where quick response is not needed. On the consideration above, following works are done in this paper. Since current coupling exists in the control system based on the speed of the servo motor as the control input, the control system of the direct drive Stewart manipulator is established based on the current of the servo motor as the control input in which the current coupling can be solved. In order to improve the dynamic characteristics of the direct drive Stewart manipulator, a Proportion Differentiation (PD) plus dynamic pressure feedback control strategy is also put forward in this paper, which is verified by using a simulated hydraulically driven Stewart manipulator. Simulation results show that both dynamic coupling and current coupling are solved and the control strategy proposed in this paper can significantly increase the bandwidths of all degrees of freedom.

Direct-Drive Force Feedback Control for the Dataglove

1991 ◽  
pp. 453-460 ◽  
Author(s):  
Grigore Burdea ◽  
Jiachen Zhuang ◽  
Ed Roskos ◽  
Deborah Silver ◽  
Noshir Langrana
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Direct Drive ◽  
Drive Force

Bilateral Force Feedback Control for a Vehicle-Type Tele-Mobility System

2013 ◽  
Vol 133 (8) ◽  
pp. 795-803
Author(s):  
Kazuki Nagase ◽  
Shutaro Yorozu ◽  
Takahiro Kosugi ◽  
Yuki Yokokura ◽  
Seiichiro Katsura
Keyword(s):  
Feedback Control ◽  
Force Feedback ◽  
Vehicle Type ◽  
Mobility System
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