IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v13y2020i5p1125-d327539.html
   My bibliography  Save this article

PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator

Author

Listed:
  • Chenyang Zhang

    (School of Mechatronics Engineering, Harbin Institute of Technology, West Dazhi Street No.92, Harbin 150000, China)

Abstract

In order to ensure good dynamic characteristics, servo valve is usually adopted as the drive part of Stewart manipulator which causes huge power consumption, while direct drive electro-hydraulic servo system has the advantages of energy saving, simple structure, convenient installation, and low failure rate. But its dynamic characteristics are so poor that it can only be applied to occasions where quick response is not needed. On the consideration above, following works are done in this paper. Since current coupling exists in the control system based on the speed of the servo motor as the control input, the control system of the direct drive Stewart manipulator is established based on the current of the servo motor as the control input in which the current coupling can be solved. In order to improve the dynamic characteristics of the direct drive Stewart manipulator, a Proportion Differentiation (PD) plus dynamic pressure feedback control strategy is also put forward in this paper, which is verified by using a simulated hydraulically driven Stewart manipulator. Simulation results show that both dynamic coupling and current coupling are solved and the control strategy proposed in this paper can significantly increase the bandwidths of all degrees of freedom.

Suggested Citation

  • Chenyang Zhang, 2020. "PD Plus Dynamic Pressure Feedback Control for a Direct Drive Stewart Manipulator," Energies, MDPI, vol. 13(5), pages 1-13, March.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:5:p:1125-:d:327539
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/13/5/1125/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/1996-1073/13/5/1125/
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Chenyang Zhang & Hongzhou Jiang, 2021. "Experimental Study of the Direct Drive Hydraulic System with the Torque Mode," Energies, MDPI, vol. 14(4), pages 1-12, February.
    2. Han Tao & Dacheng Cong, 2021. "Adaptive Impedance Control of a Novel Automated Umbilical System for Propellant Loading," Energies, MDPI, vol. 14(16), pages 1-27, August.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:13:y:2020:i:5:p:1125-:d:327539. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.