High performance Integrated Electro-Hydraulic Actuator for robotics. Part II: Theoretical modelling, simulation, control & comparison with real measurements

Samer Alfayad; Fethi B. Ouezdou; Faycal Namoun; Gordon Gheng

doi:10.1016/j.sna.2011.03.019

High performance Integrated Electro-Hydraulic Actuator for robotics. Part II: Theoretical modelling, simulation, control & comparison with real measurements

Samer Alfayad, Fethi B. Ouezdou, Faycal Namoun, Gordon Gheng

Chair of Cognitive Systems

Research output: Contribution to journal › Article › peer-review

26 Scopus citations

Abstract

The paper deals with the theoretical modelling of the high performance Integrated Electro-Hydraulic Actuator (IEHA) introduced in the first part of this work. Based of the hydraulic and dynamic equations, we carried out an analysis of the IEHA input/output relation. A simulation based on this input/output model is detailed showing the ability to access several time derivatives of the payload position mainly its "jerk", which represents an important issue whenever motion control is considered. We show the theoretical dynamic properties of the proposed solution through open and closed loop simulation results based on Matlab-Simulink. A comparison between the theoretical and experimental results obtained by a built prototype is given in order to demonstrate the promising performances of the proposed solution.

Original language	English
Pages (from-to)	124-132
Number of pages	9
Journal	Sensors and Actuators, A: Physical
Volume	169
Issue number	1
DOIs	https://doi.org/10.1016/j.sna.2011.03.019
State	Published - 10 Sep 2011

Keywords

Actuator control
Actuator modelling
Electro-hydraulic
Integrated actuator
Simulation

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10.1016/j.sna.2011.03.019

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abstract = "The paper deals with the theoretical modelling of the high performance Integrated Electro-Hydraulic Actuator (IEHA) introduced in the first part of this work. Based of the hydraulic and dynamic equations, we carried out an analysis of the IEHA input/output relation. A simulation based on this input/output model is detailed showing the ability to access several time derivatives of the payload position mainly its {"}jerk{"}, which represents an important issue whenever motion control is considered. We show the theoretical dynamic properties of the proposed solution through open and closed loop simulation results based on Matlab-Simulink. A comparison between the theoretical and experimental results obtained by a built prototype is given in order to demonstrate the promising performances of the proposed solution.",

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AU - Namoun, Faycal

AU - Gheng, Gordon

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KW - Integrated actuator

KW - Simulation

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High performance Integrated Electro-Hydraulic Actuator for robotics. Part II: Theoretical modelling, simulation, control & comparison with real measurements

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Keywords

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