Modeling and control of hydraulic rotary actuators used in forestry cranes
PM La Hera, U Mettin, S Westerberg… - … on Robotics and …, 2009 - ieeexplore.ieee.org
PM La Hera, U Mettin, S Westerberg, AS Shiriaev
2009 IEEE International Conference on Robotics and Automation, 2009•ieeexplore.ieee.orgThe steps for modeling and control of a hydraulic rotary actuator are discussed. Our aim is to
present experimental results working with a particular sensing device for angular position as
a complement to pressure sensing devices. We provide the steps in experimental system
identification used for modeling the system dynamics. The cascade controller designed
contains an inner loop for an accurate tracking of torque while stabilizing position reference
trajectories. The performance of this design is experimentally verified.
present experimental results working with a particular sensing device for angular position as
a complement to pressure sensing devices. We provide the steps in experimental system
identification used for modeling the system dynamics. The cascade controller designed
contains an inner loop for an accurate tracking of torque while stabilizing position reference
trajectories. The performance of this design is experimentally verified.
The steps for modeling and control of a hydraulic rotary actuator are discussed. Our aim is to present experimental results working with a particular sensing device for angular position as a complement to pressure sensing devices. We provide the steps in experimental system identification used for modeling the system dynamics. The cascade controller designed contains an inner loop for an accurate tracking of torque while stabilizing position reference trajectories. The performance of this design is experimentally verified.
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