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com












































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Displacement
Transducer
Flow Control
Valve
Servo
Controller
Linear Actuator
Load
Position
Demand
Hydraulic
Power Supply


























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F
v
P
a
P
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P
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P
r
P
T
A
B
X
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Q
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Seals
Direction of piston movement
A B
Q
b
Q
a
V
a
V
b
P
a
P
b
















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U
r
Servo
Controller
+

U
p
U
v
U
e
Error Amplifier
u
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p

u
v
(t) +K
p
u
e
(t) )K
i
u
e
dt)K
d
du
e
dt














































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I(s)
V(s)
+
1
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c
)R
c


































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M
v
+
1
2z
v
1 *z
v
2

Q
L
+Q
R
i
:
v
x
DP
V
DP
R

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S
Q
in *S
Q
out +
dV
dt
)
V
b
dP
dt

P
A
+
b
V
(Q
A
*
dV
A
dt
)dt

F
P
+ (P
A
*P
B
) A
P
F
P
+M
P
d
2
x
p
dt
2
)F
f
)K
L
x
p

F
f
+
dx
dt
F
v0
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dx
dt
F
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Q
A
*K
La
(P
A
*P
B
) *K
Le
P
A
+
dV
A
dt
)
V
A
b
dP
A
dt


P
S
+
b
V
1

Q
pump
* Q
L

dt

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1
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
1
0 0.5 1 1.5
2
2.5 3 3.5 4 4.5 5










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Dynamic
Performance
0.10
1.00
10.00
100.00
1.0 10.0 100.0 1000.0
Frequency
(Hz)
A
m
p
l
i
t
u
d
e
(
+
m
m
)
0.8
0.6
0.4
0.2
0
0.2
0.4
0.6
0.8
0 5000 10000 15000 20000
10Hz
0,3Hz











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0.2
0.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 5000 10000 15000 20000
10Hz
0,3Hz








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Scope
U
r
U
p
U
p
U
p
X
p
Displacement
transducer
U
p
U
r
U
v U
r
Signal 1
Servo
controller
U
v
P
a
P
b
P
s
P
s
QL P
s
QL
Power
supply
Servo-valve
QL
QB
Q
a
QL
Q
a
dVa
Pa
Chamber A
Pa
Q
a
Qb
dVb
Pb
Chamber B
Pb
Pa
Pb
dVa
dVb
X
p
Actuator
2
U
r
U
v
dVa
dVb
X
p



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P
a
Global
Pb
STOP
Ap
Ap
Ap
X
dVa
u
dVb
dVb

+
y
P
Ap
Xp
dP
Fp

+
y
P
Xpdotdot
Mp
Piston
mss
Xpdot
1
s
y
Fc
FcO
Coulomb friction
coefficient
1
s
Sign
Integrator
Upper lim = stroke/2
Lower lim = (stroke/2)
Global
Xpmax
Be 1.4e9
oil bulk modulus
1/2 Stroke
FL
y
KL
Load stiffness
Piston
active area
P
a
Pb Xp
Xp
Stop
Simulation



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Ps
Return
pressure
Pb
[Pr]
X
Qa
u

+
y
P
Iv
z
Torque motor
Ivsat
servo-valve saturation
current
Saturation
Upper lim = inf
Lower lim = 0
+

Pa
Pb
Pa
Uv
Uv
<Uv> Iv
normalise
Spool dynamics
<Iv
x
> Xv
Xv
Qv
flow
Ivsat
Qr
rated flow
Qr
X
Qv
flow
Qb
Qb
1
Ql
Ql
invert
Qa
[u]
Abs
+

+
6.89476e6
Pa
y
P
Divide
sqrt



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