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.
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ASME 2015 Dynamic Systems and Control Conference
October 28–30, 2015
Columbus, Ohio, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5725-0
PROCEEDINGS PAPER
Passive Control of a Hydraulic Human Power Amplifier Using a Hydraulic Transformer Available to Purchase
Sangyoon Lee,
Sangyoon Lee
University of Minnesota, Minneapolis, MN
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Perry Y. Li
Perry Y. Li
University of Minnesota, Minneapolis, MN
Search for other works by this author on:
Sangyoon Lee
University of Minnesota, Minneapolis, MN
Perry Y. Li
University of Minnesota, Minneapolis, MN
Paper No:
DSCC2015-9734, V002T27A004; 8 pages
Published Online:
January 12, 2016
Citation
Lee, S, & Li, PY. "Passive Control of a Hydraulic Human Power Amplifier Using a Hydraulic Transformer." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. 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. Columbus, Ohio, USA. October 28–30, 2015. V002T27A004. ASME. https://doi.org/10.1115/DSCC2015-9734
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