Digital realization of electro-hydraulic servo control system in manipulator joints

摘要

For the real manipulator, the inner and outer loops of the electro-hydraulic servo control system with the modern control theory aiming at the character of electro-hydraulic servo control systems are designed in this paper. The forward series compensation and feedback of velocity and acceleration are realized digitally in the deisgn process. The debugging and analyzing results show that the systems possess high precision, robustness and satisfactory dynamical propoerty