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Markus Bröcker
Nonlinear Modeling and Control of Hydraulic Rotary Vane Actuators
For hydraulic rotary vane actuators this contribution supplies comprehensive investigations for system modeling as well as to system properties and the derivation of a nonlinear control concept, the D-flatness based controller. Rotary vane actuators can be integrated alternatively to the so far usual differential cylinders at the arms of large manipulators. By these new constructions of the manipulator arms it is possible to eliminate the disadvantageous transmission kinematics. This aim makes higher demands against the drive, so that a precise concept and a high-quality trajectory tracking of the rotary vane angle are indispensable. The system modeling of the rotary drive as an analytic system with linear influencing input (ALS) and the derivation of simpler nonlinear system classes are basis for the investigations on controllability and observability. The proof of the D-flatness of the rotary vane actuator and the D-flatness based control tested in a simulation study points out the enormous potential of the rotary vane actuator for practical applications.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 51, 10/2003
Pages: 453