Dynamic modelling and identification of a hydraulic servoactuator

摘要

This paper deals with the estimation of the dynamic parameters of a hydraulic servoactuator, using a new approach based on a Weighted Least Squares identification technique. A survey of these techniques is given and applied to the first joint of a hydraulic robot, MAESTRO, developed by CYBERNETIX~1, IFREMER~2 and CEA~**. The dynamic modelling of this system is developed in this paper according to hydraulic general relations and assumptions. Experimental results show the efficiency of the method.