Analysis on rigidity of hydraulic hoses for electro-hydrostatic actuators

Electro-hydrostatic actuators (EHAs) are said to have potential as actuators for robotic systems because they have high power-to-weight ratio, compact, and energy saving systems compared to general hydraulic systems. However, modeling approaches and analyses on dynamic characteristics have not been quite concrete yet. In order to expand EHAs' potential to be used for robots, further studies of their characteristics are necessary. The previous research has shown two-inertia resonance would occur in EHAs and EHAs can be modeled as two-inertia systems. Nevertheless, how the rigidity of hydraulic hoses relates to resonance frequency and efficiency of EHAs has not been discussed. The rigidity of hydraulic hoses has been said to have an impact on resonance characteristics of general hydraulic systems. However, dynamic characteristics of EHAs and analyses on the rigidity of hydraulic hoses have not been clearly examined. Thus, this study investigates the effect of the rigidity of hydraulic hoses by applying different type of hoses in an EHA.

[1]  Tae-Hyung Kim,et al.  HYDRAULIC SERVO SYSTEM USING A FEEDBACK LINEARIZATION CONTROLLER AND DISTURBANCE OBSERVER - SENSITIVITY OF SYSTEM PARAMETERS - , 2008 .

[2]  Roberto Oboe,et al.  Use of load-side MEMS accelerometers in servo positioning of two-mass-spring systems , 2015, IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society.

[3]  Hiroshi Kaminaga,et al.  Backdrivability analysis of Electro-Hydrostatic Actuator and series dissipative actuation model , 2010, 2010 IEEE International Conference on Robotics and Automation.

[4]  Koji Takahashi,et al.  Analysis of a Hydraulic Hose Used for Pulsation Damping. , 1996 .

[5]  Toshiaki Tsuji,et al.  Development of friction free controller for electro-hydrostatic actuator using feedback modulator and disturbance observer , 2017 .

[6]  Jinghong Yu,et al.  Optimum Design of Resonator Hose for Automotive Hydraulic Power Steering System. , 2002 .

[7]  Esa Mäkinen,et al.  Performance of a Pump Controlled Asymmetric Actuator: A Comparison of Different Control Methods , 2014 .

[8]  Toshiaki Tsuji,et al.  Bilateral control between electric and electro-hydrostatic actuators using feedback modulator , 2016, IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society.

[9]  Hiroshi Kaminaga,et al.  Development of backdrivable hydraulic joint mechanism for knee joint of humanoid robots , 2009, 2009 IEEE International Conference on Robotics and Automation.

[10]  Hiroshi Kaminaga,et al.  Mechanism and Control of Knee Power Augmenting Device with Backdrivable Electro-Hydrostatic Actuator , 2011 .

[11]  Saeid Habibi,et al.  Parameter Identification for a High-Performance Hydrostatic Actuation System Using the Variable Structure Filter Concept , 2007 .

[12]  Yoichi Hori,et al.  Slow resonance ratio control for vibration suppression and disturbance rejection in torsional system , 1999, IEEE Trans. Ind. Electron..

[13]  Y. Hori,et al.  Fractional order control and its application of PI/sup /spl alpha//D controller for robust two-inertia speed control , 2004, The 4th International Power Electronics and Motion Control Conference, 2004. IPEMC 2004..