Passive control of an electrohydraulic actuator using an electrohydraulic passive valve

K. Krishnaswamy; P. Y. Li

doi:10.1109/acc.2001.946270

Passive control of an electrohydraulic actuator using an electrohydraulic passive valve

K. Krishnaswamy, P. Y. Li

Mechanical Engineering

Research output: Contribution to journal › Conference article › peer-review

8 Scopus citations

Abstract

A passive control scheme for bilateral teleoperated one degree of freedom hydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first passifying a four way directional control valve via active feedback, and then by the design of a passive teleoperation control based on the low frequency dynamics of the passified valve. The coordination error between the joystick and the hydraulic actuator converges to 0 for sufficiently low manipulation bandwidth. Experimental results verifies the characteristics of the control scheme.

Original language	English (US)
Pages (from-to)	3932-3937
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	5
DOIs	https://doi.org/10.1109/acc.2001.946270
State	Published - 2001
Event	2001 American Control Conference - Arlington, VA, United States Duration: Jun 25 2001 → Jun 27 2001

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abstract = "A passive control scheme for bilateral teleoperated one degree of freedom hydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first passifying a four way directional control valve via active feedback, and then by the design of a passive teleoperation control based on the low frequency dynamics of the passified valve. The coordination error between the joystick and the hydraulic actuator converges to 0 for sufficiently low manipulation bandwidth. Experimental results verifies the characteristics of the control scheme.",

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AB - A passive control scheme for bilateral teleoperated one degree of freedom hydraulic actuator is proposed. The overall system enables a human operating a motorized joystick to feel as if he is manipulating a rigid mechanical tool with which the work environment is also in contact. By ensuring that the closed loop system behaves like a passive two port device, safety and stability when coupled to other systems are improved. The control scheme is developed by first passifying a four way directional control valve via active feedback, and then by the design of a passive teleoperation control based on the low frequency dynamics of the passified valve. The coordination error between the joystick and the hydraulic actuator converges to 0 for sufficiently low manipulation bandwidth. Experimental results verifies the characteristics of the control scheme.

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Passive control of an electrohydraulic actuator using an electrohydraulic passive valve

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