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Service Robotics and Mechatronics pp 55–60Cite as

Comparison of Tracking Controllers of Hydraulic Cylinder Drive by Simulations

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Abstract

When mechanical cams are replaced with hydraulic drives in relatively fast applications the dynamics of hydraulic drives is very important. From the tracking error point of view the delay between the reference and the load motion is the most serious problem. Due to large and expensive real systems a real animation system and simulations are used in this study. The model of the animation system is validated and simulation is used to study the performance of different controllers. The best results are achieved with the State Feedback Controller, velocity forward loop, and the delay compensation.

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Author information

Authors and Affiliations

  1. Department of Intelligent Hydraulics and Automation, Tampere University of Technology, Tampere, Finland

    Tapio Virvalo

Authors
  1. Tapio Virvalo
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Editors and Affiliations

  1. Graduate School of Engineering, Kobe University, 1-1 Rokko-dai, Nada-ku, 657-8501, Kobe, Japan

    Keiichi Shirase

  2. Kansai University, 3-3-35 Yamate-cho, 564-8680, Suita, Osaka, Japan

    Seiji Aoyagi

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© 2010 Springer-Verlag London Limited

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Virvalo, T. (2010). Comparison of Tracking Controllers of Hydraulic Cylinder Drive by Simulations. In: Shirase, K., Aoyagi, S. (eds) Service Robotics and Mechatronics. Springer, London. https://doi.org/10.1007/978-1-84882-694-6_10

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  • DOI: https://doi.org/10.1007/978-1-84882-694-6_10

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84882-693-9

  • Online ISBN: 978-1-84882-694-6

  • eBook Packages: EngineeringEngineering (R0)

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