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TECHNICAL PAPERS

Hydraulic Servo System With Mechanically Adjustable Compliance

[+] Author and Article Information
Toshiyuki Hayase, Kazuhiro Ishizawa, Satoru Hayashi

Institute of Fluid Science, Tohoku University, Sendai, 980-8577, Japan

Ikuro Iimura

Department of Mechanical Engineering, Akita University, Akita, 010-0852, Japan

J. Dyn. Sys., Meas., Control 124(1), 168-175 (Apr 14, 1999) (8 pages) doi:10.1115/1.1433803 History: Received April 14, 1999
Copyright © 2002 by ASME
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References

Figures

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Bridge valve circuit with variable neutral position
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Definition of ball valve angle
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Equivalent orifice area with valve angle
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Step response from the full opening neutral position (θc0=0). (a) Angular position of ball valves (simulation); (b) pressure (simulation); (c) angular position of hydraulic motor
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Step response from the nearly closing neutral position (θc0=0.805). (a) Angular position of ball valves (simulation); (b) pressure (simulation); (c) angular position of hydraulic motor
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Static characteristics of the hydraulic control system, (a) Comparison between full opening and nearly closing neutral positions; (b) magnified view for several neutral positions
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Determination of velocity compliance (simulation, ϕ̇=4 rad/s)
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Adjustable region of velocity compliance (simulation)
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Block diagram of the nonlinear control system
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Step response of hydraulic motor. (a) Experiment; (b) simulation
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Simulation for the step response of hydraulic motor with obstacle on the trajectory (kL=50 Nm,BL=10 Nms)
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Experiment for the step response of hydraulic motor with obstacle on the trajectory (kL=88 Nm,BL=1 Nms)

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