Valve characterization to implement feed-forward control of hydraulically actuated joints
Author(s)Carey, Abby (Abby M.)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Wai K. Cheng and Andreas Hofmann.
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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.
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaf 39).
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology