A series-bypass hydraulic power circuit is evaluated for use on a six-legged walking vehicle. This vehicle will be totally autonomous and have the capability to carry a man and 500 lbs. payload. This hydraulic circuit is part of a closed loop feedback system which uses microprocessors to control the vehicle trajectory. The series-bypass circuit combines features of pump and valve controlled hydraulic circuits to achieve high energy efficiency and maximize the closed loop bandwidth. The circuit is mathematically modeled and analyzed using linearized symbolic and frequency response transfer functions and a nonlinear time domain simulation. These methods are used to select and test controller designs. The control architecture is primarily designed by using classical transfer function methods. Due to the nature of the series-bypass circuit and performance objectives, it is also necessary to employ multivariable techniques in designing and analyzing the closed loop systems. Based on the simulation and linearized studies, controller desings are experimentally evaluated on a microprocessor controlled prototype series-bypass circuit.
Digital control of the hydraulic actuators of an adaptive suspension vehicle
Numerische Steuerung der hydraulischen Betaetigungselemente von Fahrzeugen mit adaptiver Radaufhaengung
1985
498 Seiten
Theses
English
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