Adaptive Compensation of Deformations in Mechanical Structures Controlled by Hydraulic Actuators
1990 (English)In: Proceedings of the 11th IFAC World Congress, 1990, 51-55 p.Conference paper (Refereed)
In servo applications involving complex mechanical structures load forces often cause deformations in the structure. Since normally only the actuator position is measured and fed back to the control unit the deformations will introduce errors in the positioning of the load. The approach proposed in this paper is to estimate the true load position. If the stiffness between the actuator and the load is known it is possible to estimate the position of the load by measuring the actuator force/pressure. The estimation of the stiffness is based on recursive identification of the dynamics between actuator force and actuator pressure. The identified model can be used to improve the dynamic properties of the system as well as to compensate for the static error.
Place, publisher, year, edition, pages
1990. 51-55 p.
Fluid power systems, Recursive identification, Dynamics
IdentifiersURN: urn:nbn:se:liu:diva-91618OAI: oai:DiVA.org:liu-91618DiVA: diva2:626237
11th IFAC World Congress, Tallin, Estonia, August, 1990