Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot
In the development of a wearable robot, compact volume size, high energy efficiency, and a high load capacity linear actuator system are necessary. However, conventional hydraulic actuator systems are difficult to apply to wearable robots. Also, they have nonlinearities because of the presence of hy...
Main Authors: | , , , |
---|---|
Format: | Article |
Language: | English |
Published: |
MDPI AG
2019-06-01
|
Series: | Processes |
Subjects: | |
Online Access: | https://www.mdpi.com/2227-9717/7/6/389 |
id |
doaj-6e63b08f38504eb4a7be8f0fc8bf0edf |
---|---|
record_format |
Article |
spelling |
doaj-6e63b08f38504eb4a7be8f0fc8bf0edf2020-11-25T02:01:17ZengMDPI AGProcesses2227-97172019-06-017638910.3390/pr7060389pr7060389Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable RobotBuchun Song0Dongyoung Lee1Sang Yong Park2Yoon Su Baek3Department of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaDepartment of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaDepartment of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaDepartment of Mechanical Engineering, Yonsei University, Seoul 03722, KoreaIn the development of a wearable robot, compact volume size, high energy efficiency, and a high load capacity linear actuator system are necessary. However, conventional hydraulic actuator systems are difficult to apply to wearable robots. Also, they have nonlinearities because of the presence of hydraulic fluid in a single rod cylinder. Electric linear actuators resolve the problems of hydraulic systems. However, due to their low load capacity, they are not easy to apply to wearable robots. In this paper, a pump-controlled electro-hydraulic actuator (EHA) system that considers the disadvantages of the hydraulic actuator and electric actuator is proposed for a wearable robot. Initially, a locking circuit design is considered for the EHA to give the system load holding capacity. Based on the developed model, the adaptive sliding mode control (ASMC) scheme is designed to resolve the nonlinearity problem of changes in the dynamic system. The ASMC scheme is then modeled and verified with Simulink. In order to verify the performance of the proposed adaptive control with the model, experiments are conducted. The proposed EHA verifies that the ASMC reaches the target value well despite the existence of many model uncertainties.https://www.mdpi.com/2227-9717/7/6/389pump-controlled electro-hydraulic actuatoradaptive sliding mode controllocking circuit design |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Buchun Song Dongyoung Lee Sang Yong Park Yoon Su Baek |
spellingShingle |
Buchun Song Dongyoung Lee Sang Yong Park Yoon Su Baek Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot Processes pump-controlled electro-hydraulic actuator adaptive sliding mode control locking circuit design |
author_facet |
Buchun Song Dongyoung Lee Sang Yong Park Yoon Su Baek |
author_sort |
Buchun Song |
title |
Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot |
title_short |
Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot |
title_full |
Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot |
title_fullStr |
Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot |
title_full_unstemmed |
Design and Performance of Nonlinear Control for an Electro-Hydraulic Actuator Considering a Wearable Robot |
title_sort |
design and performance of nonlinear control for an electro-hydraulic actuator considering a wearable robot |
publisher |
MDPI AG |
series |
Processes |
issn |
2227-9717 |
publishDate |
2019-06-01 |
description |
In the development of a wearable robot, compact volume size, high energy efficiency, and a high load capacity linear actuator system are necessary. However, conventional hydraulic actuator systems are difficult to apply to wearable robots. Also, they have nonlinearities because of the presence of hydraulic fluid in a single rod cylinder. Electric linear actuators resolve the problems of hydraulic systems. However, due to their low load capacity, they are not easy to apply to wearable robots. In this paper, a pump-controlled electro-hydraulic actuator (EHA) system that considers the disadvantages of the hydraulic actuator and electric actuator is proposed for a wearable robot. Initially, a locking circuit design is considered for the EHA to give the system load holding capacity. Based on the developed model, the adaptive sliding mode control (ASMC) scheme is designed to resolve the nonlinearity problem of changes in the dynamic system. The ASMC scheme is then modeled and verified with Simulink. In order to verify the performance of the proposed adaptive control with the model, experiments are conducted. The proposed EHA verifies that the ASMC reaches the target value well despite the existence of many model uncertainties. |
topic |
pump-controlled electro-hydraulic actuator adaptive sliding mode control locking circuit design |
url |
https://www.mdpi.com/2227-9717/7/6/389 |
work_keys_str_mv |
AT buchunsong designandperformanceofnonlinearcontrolforanelectrohydraulicactuatorconsideringawearablerobot AT dongyounglee designandperformanceofnonlinearcontrolforanelectrohydraulicactuatorconsideringawearablerobot AT sangyongpark designandperformanceofnonlinearcontrolforanelectrohydraulicactuatorconsideringawearablerobot AT yoonsubaek designandperformanceofnonlinearcontrolforanelectrohydraulicactuatorconsideringawearablerobot |
_version_ |
1724957547558862848 |