Hybrid Simulation of an Electrohydraulic Servo Drive for a Manipulator

Electrohydraulic servo-drives are used favourably in manufacturing industry because of their great actuating power. Their distinct nonlinear behaviour as well as their characteristic weak damping, however, complicate the control of such drives considerably. Subject of this contribution is part of an investigation of the design of linear feedback controls for servovalve-controlled hydraulic drives, that is based on a hybrid simulation technique. State feedback controls with observers as well as multiloop controls are tested and results of the simulations are presented in this paper.