This paper studies on the dynamic characteristics of electric hydrostatic actuator(EHA). In order to improve the dynamic characteristics of EHA, modified PI-D controller, feed-forward controller and input shaping filter were applied. A reference input...
This paper studies on the dynamic characteristics of electric hydrostatic actuator(EHA). In order to improve the dynamic characteristics of EHA, modified PI-D controller, feed-forward controller and input shaping filter were applied. A reference input following controller (including PI-D and feed-forward controller) which enables robust control of the EHA under disturbances is devised using pole placement method and zero placement method. Then, an input shaping filter was incorporated to the devised control system to improve reference following characteristic in high frequency range. The effectiveness of the suggested control design is verified through experiments.