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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Lee, Sangyoon Perry, Y. Li |
| Copyright Year | 2015 |
| Abstract | The hydraulic human power amplifier is a tool that uses hydraulic actuation to amplify the force that the human exerts on it. Our control objective and framework are to make the system behave like a passive mechanical tool when interacting with the human and with the work environment with a specified power scaling factor. A virtual velocity coordination control approach casts the human power amplifier problem into one of velocity coordination by generating a fictitious reference mechanical system. Force amplification becomes a natural consequence of velocity coordination. This control has been previously demonstrated using servo valves which is a major contributor to energy loss in hydraulic system. In this paper, a hydraulic transformer, which does not rely on throttling to accomplish its control function is used instead of a servo valve to achieve human power amplification. In addition, a passivity based control approach that makes use of the natural energy storage of the hydraulic actuator is used to define the flow requirement. This approach fully accounts for the non-linearity due to the pressure dynamics. The controller was experimentally validated with good force amplification and velocity coordination performance on a single degree of freedom hydraulic human power amplifier. |
| Sponsorship | Dynamic Systems and Control Division |
| File Format | |
| ISBN | 9780791857250 |
| DOI | 10.1115/DSCC2015-9734 |
| Volume Number | Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications |
| Conference Proceedings | ASME 2015 Dynamic Systems and Control Conference |
| Language | English |
| Publisher Date | 2015-10-28 |
| Publisher Place | Columbus, Ohio, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Actuators Degrees of freedom Dynamics (mechanics) Energy dissipation Control equipment Valves Passive control Servomechanisms Flow (dynamics) Pressure Energy storage Hydraulic drive systems |
| Content Type | Text |
| Resource Type | Article |
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