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System Identification of High-Performance Hydraulic Actuators

System identification of the above mentioned actuators was carried out with an eye to their control. The actuator properties and performance were identified and an analytical model was derived leading to an accurate software simulator including all the dominant nonlinear elements. From this model, several laws designed to accommodate the control of two or more kinematically coupled actuators have been proposed and are currently under experimental evaluation. Recently, a simple control has been proposed which can quench limit cycles occuring at high feedback gains and which can improve the rise time by an order of magnitude.

B. Boulet, L. Daneshmend, V. Hayward, J.F. Mougenet, C. Nemri



Thierry Baron
Mon Nov 13 10:43:02 EST 1995