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Synchronous Control of an Asymmetrical Dual Redundant EHA
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  • Journal title : Journal of Drive and Control
  • Volume 13, Issue 2,  2016, pp.1-9
  • Publisher : Korea Society of Fluid Power & Construction Equipments
  • DOI : 10.7839/ksfc.2016.13.2.001
 Title & Authors
Synchronous Control of an Asymmetrical Dual Redundant EHA
Lee, Seong Ryeol; Hong, Yeh Sun;
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In this paper, an elementary force fighting problem was investigated. The problem is encountered when a double-rod type EHA(electro-hydrostatic actuator) is combined with a single-rod type EHA to build a redundant actuator system with synchronized motion. When the rod-side chambers of the two different types of EHAs have the same effective piston areas and are simultaneously pressurized by an external load, the two EHAs behave identically, sharing the external load equally. However, when the piston head-side chamber of the single rod type EHA, having a larger effective area than the rod-side chamber, is pressurized by the external load, an abnormal force fighting between the two EHAs occurs, unless their pump speeds are properly decoupled. In this study, the output drive forces of each EHA were obtained from the cylinder pressure signals and applied to the position control for each EHA to maintain the balance between their pump speeds. Adding minor force difference feedback loops to the position control, the force fighting phenomena could be eliminated and steady state synchronization errors were reduced. The power consumption of the pumps also could be remarkably reduced, avoiding unnecessarily high load pressures to the pumps.
Electro-hydrostatic actuator;Asymmetrical redundant actuator;Driving force fighting;Synchronization;
 Cited by
이중 EHA의 제어 특성 개선,이성렬;홍예선;

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