Abstract
For its compact and flexible design, a novel miniature hydraulic actuation scheme is proposed for use in applications especially where both size and power are extremely important. The system works on a volume-controlled method using miniature cylinders. In order to describe the impact of hose deformation on the system, a lumped-parameter hose model is proposed, and coefficients in the model are determined on the basis of experiments with an existing prototype. A position tracking controller with a disturbance observer is designed for a miniature hose-connecting hydraulic actuation system. Tracking control for the target displacement is arranged as an external circuit of pressure compensation to eliminate the tracking error and an inner circuit of pressure compensation which operates by observed disturbances and oil pressure in the hose. Lyapunov theory is employed to verify the stability of the system with the disturbance observer. The disturbance observer–based controller has much better tracking performance than conventional proportional–integral–derivative controllers, which can substantially offset negative effects of the hose.
Highlights
BackgroundMiniature hydraulic actuators have specific significance because of their compatibility, lightweight, and fast response.[1]
Actuator size can be reduced to cater for installation and operation within extremely narrow spaces, which tends to be unachievable using traditional electric or mechanical actuation systems
Miniature hydraulic actuators are especially suitable for applications like wind tunnels, aero airborne actuators, and lightweight moving machines with demanding geometry, weight, and output power required.[2,3]
Summary
Miniature hydraulic actuators have specific significance because of their compatibility, lightweight, and fast response.[1] Actuator size can be reduced to cater for installation and operation within extremely narrow spaces, which tends to be unachievable using traditional electric or mechanical actuation systems. Valve-controlled systems offer configuration and quick response, whereas pump-controlled systems have high efficiency and low response.[4,5] valve-controlled systems are used more widely in applications with high requirements of accuracy and dynamics. Both valve-controlled systems and pump-controlled systems, need to equip a pressurized-oil supplier, which would no longer meet the requirement of the actuation system to be compact and portable.
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