期刊名称：IAENG International Journal of Computer Science
印刷版ISSN：1819-656X
电子版ISSN：1819-9224
出版年度：2021
卷号：48
期号：4
语种：English
出版社：IAENG - International Association of Engineers
摘要：Electrohydraulic servo system (EHSS) are usually used to actuate the exoskeleton robots for their abilities to deliver accurate and high power. However, their exists an inevitable time delay for EHSS, because it costs a certain time to make the oil pumped from the tank into the servo and cylinder. To overcome this problem, this paper utilizes the Smith predictor to compensate the time delay. Firstly, the dynamic model is built to compute the desired torque based on the Lagrange equation and fluid equation. The desired torque is transformed into the form of transfer function, and the control law is designed by introducing a time constant. Moreover, this time constant is supposed to be set as the same as the time delay. The results demonstrate that the Smith predictor deeply decreases the time delay and promotes the control performance.
