2026-09-19T04:33:32Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/457632022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Wai K. Cheng and Andreas Hofmann.
Carey, Abby (Abby M.)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2009-06-30T16:13:40Z
2009-06-30T16:13:40Z
2008
2008
http://hdl.handle.net/1721.1/45763
318361765
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
Includes bibliographical references (leaf 39).
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.
by Abby Carey.
S.B.
39 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Valve characterization to implement feed-forward control of hydraulically actuated joints
Thesis
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Publication
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