Development of a model-based nested controller for electrohydraulic servos

摘要

In this paper, a tracking controller for electrohydraulic servosystems is developed that includes a fast model-based force tracking loop. Full rigid body and electrohydraulic models, including servovalve models are employed and described by a set of integrated system equations. The control analysis is based on a non-linear inputoutput linearization control approach. The control law is augmented with a PD part, responsible for the exponential convergence of the tracking error to zero. The proposed methodology is illustrated by a detailed example. ©2005 IEEE.