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Robust force control of a hybrid actuator using quantitative feedback theory
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Ahn, Kyoung Kwan, Chau, Nguyen Huynh Thai and Truong, Dinh Quang (2007) Robust force control of a hybrid actuator using quantitative feedback theory. Journal of Mechanical Science and Technology, 21 (12). pp. 2048-2058. doi:10.1007/BF03177463 ISSN 1738-494X.
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Official URL: http://dx.doi.org/10.1007/BF03177463
Abstract
The use of hydraulic systems in industrial applications has become widespread due to their advantages in efficiency. In recent years, hybrid actuation systems, which combine electric and hydraulic technology into a compact unit, have been adapted to a wide variety of force, speed and torque requirements. A hybrid actuation system resolves energy consumption and noise problems characteristic of conventional hydraulic systems. A new, low-cost hybrid actuator using a DC motor is considered to be a novel linear actuator with various applications such as robotics, automation, plastic injection-molding, and metal forming technology. However, this efficiency gain is often accompanied by a degradation of system stability and control problems. In this paper, to satisfy robust performance requirements, tracking performance specifications, and disturbance attenuation requirements, the design of a robust force controller for a new hybrid actuator using Quantitative Feedback Theory (QFT) is presented. A family of plant models is obtained from measuring frequency responses of the system in the presence of significant uncertainty. Experimental results show that the hybrid actuator can achieve highly robust force tracking even when environmental stiffness set-point force varies. In addition, it is understood that the new system reduces energy use, even though its response is similar to that of a valve-controlled system.
| Item Type: | Journal Article | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||
| Journal or Publication Title: | Journal of Mechanical Science and Technology | ||||||||
| Publisher: | Springer | ||||||||
| ISSN: | 1738-494X | ||||||||
| Official Date: | December 2007 | ||||||||
| Dates: |
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| Volume: | 21 | ||||||||
| Number: | 12 | ||||||||
| Page Range: | pp. 2048-2058 | ||||||||
| DOI: | 10.1007/BF03177463 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Restricted or Subscription Access |
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