Energy-saving motion control based on Hamiltonian systems and its application to hydraulic robots

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We proposed a novel hydraulic hybrid servo drive for high-precision servo application. Coupling a conventional open-loop circuit with a small servo-controlled pump, one can simultaneously achieve high-load, high-speed, and high-precision servo control performance. We showed the principle of the new circuit and one of the realizations for servo press application, and conducted simulation and experiments for a 10-tone servo press prototype. The both simulation and experimental results showed the position error can be less than 0.1 micrometer while applying 10-tone force to the work. This means that conventional hydraulic press can be renewed as a high-precision (even at submicron level) servo press at very low cost depending on the selection of the pumps. Finally, we implemented the proposed circuit on our hydraulic excavator testbed, and confirmed the position control performance at boosting mode. The results indicate our method has wide application to hydraulic machinery and robots.