Adding Active Damping to Energy-Efficient Electro-Hydraulic Systems for Robotic Manipulators — Comparing Pressure and Acceleration Feedback

D. Padovani
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引用次数: 3

Abstract

The growing interest in energy efficiency, plug-and-play commissioning, and reduced maintenance for heavy-duty robotic manipulators directs towards self-contained, electro-hydraulic cylinders. These drives are characterized by extremely low damping that causes unwanted oscillations of the mechanical structure. Adding active damping to this class of energy-efficient architectures is essential. Hence, this paper bridges a literature gap by presenting a systematic comparison grounded on a model-based tuning of both pressure and acceleration feedback. It is shown that both approaches increase the system damping hugely and improve the performance of the linear system. Acceleration feedback should be preferred since it only modifies the damping. However, high-pass-filtered pressure feedback can represent a satisfactory alternative.
在高效节能的机器人电液系统中加入主动阻尼——压力和加速度反馈的比较
人们对节能、即插即用调试和减少重型机器人机械手维护的兴趣日益浓厚,这些都指向了自给自足的电液缸。这些驱动器的特点是极低的阻尼,导致不必要的振荡的机械结构。为这类节能建筑增加主动阻尼是必不可少的。因此,本文通过提出基于压力和加速度反馈的基于模型的调整的系统比较来弥合文献差距。结果表明,这两种方法都大大增加了系统的阻尼,改善了线性系统的性能。加速度反馈应该是首选,因为它只修改阻尼。然而,高通滤波压力反馈是一种令人满意的替代方案。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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