Manuscript received February 8, 2023; revised March 20, 2023; accepted May, 30, 2023.
Abstract—The Electro-Hydraulic Actuator (EHA) is widely
used in various fields, including but not limited to humanoid
robotics, industrial actuators, prosthetics, rehabilitation
equipment, and aeronautics. The development of legged robots
and robotic systems must consider high dynamics and wide
bandwidth. Due to their large bandwidth, electro-hydraulic
servo-valves (EHSV) provide a substantial advantage over
traditional electro-hydraulic proportional valves. However,
some EHSVs' electrical properties can make it difficult to
function correctly. To enhance the dynamic performance of
EHSV-based actuation systems, this research suggests a novel
electronic driver topology. The hydraulic, electrical, and
mechanical components of the Simscape a toolbox in Matlab-
Simulink is used to verify the theoretical study that forms the
basis of the proposed driver design. Finally, experimental data
from a hydraulic system test bench in a lab are acquired.
Index Terms—High bandwidth actuators, dynamic driver,
servo-valve, modelling, current controller, torque motor,
electro-hydraulic servo-valve (EHSV), servo-electro hydraulic
actuator (SEHA)
G. Abdulmalek, A. Ammounah, N. Ait Oukfroukh, S. Alfayad, S.
Mammar are with Laboratory of Computing, Integrative Biology and
Complex Systems (IBISC), Univ Evry, Paris-Saclay University, Evry 91000,
France.
*Correspondence: said.mammar@univ-evry.fr (S.A.)
Cite: G. Abdulmalek, A. Ammounah, N. Ait Oukfroukh, S. Alfayad, and S. Mammar *, "Electronic Implementation of High Bandwidth Linear Hydraulic Actuator for Legged Robot’s Applications," International Journal of Modeling and Optimization vol. 13, no. 3, pp. 100-106, 2023.
Copyright © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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