Impedance model-based control for an electrohydraulic Stewart platform

Davliakos, I; Papadopoulos, E

dc.contributor.author	Davliakos, I	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:30:52Z
dc.date.available	2014-03-01T01:30:52Z
dc.date.issued	2009	en
dc.identifier.issn	0947-3580	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19664
dc.subject	Electrohydraulic interaction control	en
dc.subject	Electrohydraulic servosystem control	en
dc.subject	Impedance model-based control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.other	Electric actuators	en
dc.subject.other	Electro hydraulic servo system	en
dc.subject.other	Electrohydraulic servosystem control	en
dc.subject.other	Feedforward loops	en
dc.subject.other	Hydraulic dynamics	en
dc.subject.other	Impedance controllers	en
dc.subject.other	Impedance models	en
dc.subject.other	Integrated systems	en
dc.subject.other	Interaction controls	en
dc.subject.other	Leakage model	en
dc.subject.other	Model-based	en
dc.subject.other	PD controllers	en
dc.subject.other	Proportional-derivative controllers	en
dc.subject.other	Rigid body	en
dc.subject.other	Servo-valve	en
dc.subject.other	Servoactuator	en
dc.subject.other	Stewart platforms	en
dc.subject.other	System models	en
dc.subject.other	System response	en
dc.subject.other	Hydraulic equipment	en
dc.subject.other	Hydraulic servomechanisms	en
dc.subject.other	Hydraulics	en
dc.subject.other	Integrated optics	en
dc.subject.other	Model structures	en
dc.subject.other	Controllers	en
dc.title	Impedance model-based control for an electrohydraulic Stewart platform	en
heal.type	journalArticle	en
heal.identifier.primary	10.3166/ejc.15.560-577	en
heal.identifier.secondary	http://dx.doi.org/10.3166/ejc.15.560-577	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	In this paper, a novel model-based impedance controller for a 6-degree-of-freedom (dof) electrohydraulic Stewart platform mechanism is developed. Rigid body and experimentally developed electrohydraulic models, including servovalve, friction and leakage models are employed and described by a set of integrated system equations. Despite the fact that an electrohydraulic servoactuator is not a source of force, as is the case with electric actuators, an impedance controller is developed for the electrohydraulic platform. This controller consists of a feedback and a model-based feedforward loop that compute servovalve currents. An impedance filter modifies the desired trajectory according to a specified behavior. This trajectory is fed to a system model in the controller aiming at a reduction of the effects of the nonlinear hydraulic dynamics. Simulations results compare system response of the developed and of a proportional-derivative (PD) controller for the electrohydraulic platform. Results during interactions with the environment show that the impedance controller is superior to available PD controllers, and that its response is smooth. © 2009 EUCA.	en
heal.publisher	LAVOISIER	en
heal.journalName	European Journal of Control	en
dc.identifier.doi	10.3166/ejc.15.560-577	en
dc.identifier.isi	ISI:000270851300008	en
dc.identifier.volume	15	en
dc.identifier.issue	5	en
dc.identifier.spage	560	en
dc.identifier.epage	577	en