{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/45763"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/45763","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Valve characterization to implement feed-forward control of hydraulically actuated joints","abstract":"This thesis characterizes the flow behavior of a Hydraforce SP08-47CL valve given a specific pulse-width modulation (pwm) duty cycle. With a description of valve behavior, a feed-forward term can be implemented in the positional control loop of a hydraulically actuated robotic prototype. In order to isolate valve behavior, a test bed apparatus consisting of three separate hydraulic cylinders was constructed to decouple joint movement, and multiple tests were conducted, recording cylinder velocities given a constant pwm signal at a system pressure of 3.45MPa. After theoretically justifying the empirical results, a quadratic and bi-linear curve fit to the data provided a practical solution to an otherwise computationally expensive problem.","abstract_html":"This thesis characterizes the flow behavior of a Hydraforce SP08-47CL valve given a specific pulse-width modulation (pwm) duty cycle. With a description of valve behavior, a feed-forward term can be implemented in the positional control loop of a hydraulically actuated robotic prototype. In order to isolate valve behavior, a test bed apparatus consisting of three separate hydraulic cylinders was constructed to decouple joint movement, and multiple tests were conducted, recording cylinder velocities given a constant pwm signal at a system pressure of 3.45MPa. After theoretically justifying the empirical results, a quadratic and bi-linear curve fit to the data provided a practical solution to an otherwise computationally expensive problem.","abstract_has_math":false,"creators":["Carey, Abby (Abby M.)"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Wai K. Cheng and Andreas Hofmann."],"committee_chairs":[],"committee_members":[],"year":2008,"date_issued":"2008","date_published":"2008","updated_at":"2026-07-22T22:21:19Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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In order to isolate valve behavior, a test bed apparatus consisting of three separate hydraulic cylinders was constructed to decouple joint movement, and multiple tests were conducted, recording cylinder velocities given a constant pwm signal at a system pressure of 3.45MPa. After theoretically justifying the empirical results, a quadratic and bi-linear curve fit to the data provided a practical solution to an otherwise computationally expensive problem."],"dc:description.degree":["S.B."],"dc:identifier.uri":["http://hdl.handle.net/1721.1/45763"],"dc:language.iso":["eng"],"dc:publisher":["Massachusetts Institute of Technology"],"dc:rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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