Rollback and Compensation for an Easy Control Hydraulic Servo Joint

Abstract:

The easy control hydraulic servo joint is a key element for a reconfigurable robot and its response and control accuracy determine the performance of the robot. With the stepping motor as the input element the main parts of joint includes a rotational valve with the double orifice and the single-vane actuator. The basic structure and the working principle of joint are introduced. The mathematic model is established and the dynamic responses are analysed by using the digit simulation. From the results of simulation, a phenomenon of rollback in the process of response of joint is observed. With the simulation, the relationships between the rollback and parameters of structure are discussed. A digit PID controller is employed to reduce the effect of rollback to a great extent.

• Periodical: Applied Mechanics and Materials (Volume 312)
• Pages: 662-666
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.312.662
• Online since: February 2013
• Authors: Xiao Hong Jin, Xian Bao Xiang, Lin Jiang, Qin Fen Miao
• Keywords: Easy Control Hydraulic Servo Joint, PID Controller, Reconfigurable Robot, Rollback

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