Adaptive Compensation of Deformations in Mechanical Structures Controlled by Hydraulic Actuators

• In servo applications involving complex mechanical structures load forces often cause deformations in the structure. Since normally only the actuator position is measured and fed back to the control unit the deformations will introduce errors in the positioning of the load. The approach proposed in this paper is to estimate the true load position. If the stiffness between the actuator and the load is known it is possible to estimate the position of the load by measuring the actuator force/pressure. The estimation of the stiffness is based on recursive identification of the dynamics between actuator force and actuator pressure. The identified model can be used to improve the dynamic properties of the system as well as to compensate for the static error.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

Fluid power systems

Recursive identification

Dynamics

Publikations- och innehållstyp

vet (ämneskategori)

rap (ämneskategori)