Valve characterization to implement feed-forward control of hydraulically actuated joints
Name
318361765-MIT.pdf
Description
Full printable version
Size
9.11 MB
Format
Adobe PDF
Checksum (MD5)
8f88511136211856e875354c3c7001d1
Author(s)
Carey, Abby (Abby M.)
Advisor(s)
Wai K. Cheng and Andreas Hofmann.
Date Issued
2008
Publisher
Massachusetts Institute of Technology
Abstract
This thesis characterizes the flow behavior of a Hydraforce SP08-47CL valve given a specific pulse-width modulation (pwm) duty cycle. With a description of valve behavior, a feed-forward term can be implemented in the positional control loop of a hydraulically actuated robotic prototype. In order to isolate valve behavior, a test bed apparatus consisting of three separate hydraulic cylinders was constructed to decouple joint movement, and multiple tests were conducted, recording cylinder velocities given a constant pwm signal at a system pressure of 3.45MPa. After theoretically justifying the empirical results, a quadratic and bi-linear curve fit to the data provided a practical solution to an otherwise computationally expensive problem.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
Includes bibliographical references (leaf 39).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
Persistent DSpace Link
