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TECHNICAL BRIEFS

Nonlinear Force/Pressure Tracking of an Electro-Hydraulic Actuator

[+] Author and Article Information
Rui Liu, Andrew Alleyne

Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801

J. Dyn. Sys., Meas., Control 122(1), 232-236 (Oct 28, 1998) (5 pages) doi:10.1115/1.482466 History: Received October 28, 1998
Copyright © 2000 by ASME
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References

Figures

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A schematic diagram of the experimental system
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Friction model used in the system model, including the Karnopp and Stribeck models
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Estimated friction-velocity relation for a 0.5 Hz square wave
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1 Hz force tracking. Desired trajectory: — — —, actual trajectory: ——.
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1 Hz force tracking error
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Valve position for 1 Hz force tracking. Desired trajectory: — — —, actual trajectory: ——.
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Valve tracking error for 1 Hz force tracking
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1 Hz pressure tracking result. Desired trajectory: ——, actual trajectory: ⋅ ⋅ ⋅ ⋅ .
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1 Hz pressure tracking error
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Friction model verification: 1 Hz pressure tracking. Modeled friction: ——, Estimated friction: ⋅ ⋅ ⋅ ⋅
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25 Hz pressure tracking result. Desired trajectory: — — —, actual trajectory: —— .

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