抄録
This paper proposes a new fast computation method for 1-DOF hydraulic arm dynamics on multi-domain. First, it is confirmed that the popular and conventional state-space equation has two conserved quantities even in the presence of mechanical damping. Second, the state-space equation of hydraulic arms is converted by a coordinate transformation using the conserved quantities. Third, the converted state-space equation and the conventional state-space equation are compared with each other with respect to computation time. The validity of the proposed computation method is confirmed by numerical experiment. The computation time is reduced by 49% on average in initial response and 43% on average in disturbance response.
