This paper deals with a hydraulic servo system with compliance control for the operation in an environment with frequent machine-human interaction. The compliance is mechanically adjusted in the present hydraulic system by changing the neutral position of the bridge valves between the full opening and the full closing states. The mathematical model of the system is first derived, and the static and the dynamic behavior of the system are investigated through numerical simulation. Since the present system exhibits a strong nonlinear characteristic in the operating condition of large compliance, a nonlinear controller is designed with the feedback linearization technique. In the operating condition of small compliance, on the other hand, a conventional linear control is applicable as usual hydraulic control systems. The performance of the present control system is investigated through both numerical simulation and experiment, justifying that the present hydraulic servo system continuously adapts its performance between a rigid positioning against disturbances and a compliant positioning to prevent damage to obstacles on the path.
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March 2002
Technical Papers
Hydraulic Servo System With Mechanically Adjustable Compliance
Toshiyuki Hayase, Professor,
Toshiyuki Hayase, Professor
Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan
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Kazuhiro Ishizawa, Graduate Student,
Kazuhiro Ishizawa, Graduate Student
Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan
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Satoru Hayashi, Professor Emeritus, MEM. ASME,
Satoru Hayashi, Professor Emeritus, MEM. ASME
Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan
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Ikuro Iimura, Associate Professor,
Ikuro Iimura, Associate Professor,
Department of Mechanical Engineering, Akita University, Akita, 010-0852, Japan
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Toshiyuki Hayase, Professor
Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan
Kazuhiro Ishizawa, Graduate Student
Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan
Satoru Hayashi, Professor Emeritus, MEM. ASME
Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan
Ikuro Iimura, Associate Professor,
Department of Mechanical Engineering, Akita University, Akita, 010-0852, Japan
Contributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the Dynamic Systems and Control Division April 14, 1999. Associate Editor: F. Conrad.
J. Dyn. Sys., Meas., Control. Mar 2002, 124(1): 168-175 (8 pages)
Published Online: April 14, 1999
Article history
Received:
April 14, 1999
Citation
Hayase, T., Ishizawa, K., Hayashi, S., and Iimura, I. (April 14, 1999). "Hydraulic Servo System With Mechanically Adjustable Compliance ." ASME. J. Dyn. Sys., Meas., Control. March 2002; 124(1): 168–175. https://doi.org/10.1115/1.1433803
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