Experimental Study of the Direct Drive Hydraulic System with the Torque Mode

Chenyang Zhang and Hongzhou Jiang
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Chenyang Zhang: School of Mechatronics Engineering, Harbin Institute of Technology, West Dazhi Street No.92, Harbin 150001, China
Hongzhou Jiang: School of Mechatronics Engineering, Harbin Institute of Technology, West Dazhi Street No.92, Harbin 150001, China

Energies, 2021, vol. 14, issue 4, 1-12

Abstract: The torque mode is more suitable for the direct drive 6 degree of freedom (6-DOF) parallel mechanism than the speed mode that both dynamic coupling and current coupling among motors are easily solved, but its key parameters and dynamic characteristics have never been studied, which are important and are the goals of this paper. First the hydraulic system of the direct drive 6-DOF parallel mechanism is simplified. Then the transfer function of the direct drive hydraulic system with the torque mode is deduced together with that of the speed mode. Finally, comparative experiments are conducted. Results show that the dynamic characteristics of the system with the torque mode which are generally worse than those with the speed mode, are mainly determined by the parameters of the motor-pump second-order element of the transfer function composed of two under-damped second-order elements, proportion differentiation (PD) control strategy and dynamic pressure feedback (DPF) control strategy are useful for the system with the torque mode, but practical and effective methods are still needed.

Keywords: direct drive; torque mode; speed mode; transfer function; experimental study (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
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