Position servo with variable speed pump-controlled cylinder: design, modelling and experimental investigation
Haigang Ding, Yalong Li, Quanmin Zhu, Jingyi Su
Abstract
This paper proposes a position servo system with variable-speed pump-controlled cylinder (VSPC), which controls an asymmetric cylinder in four quadrants by adjusting servomotor speed, and elucidates the system working principle.The system mathematical model is established, an anti-integral saturation PID controller is designed, and the resonance frequency and damping ratio are obtained.The system simulation model and experimental bench are established, and step response and sinusoidal tracking experiments are carried out, revealing the change rule of servomotor speed and torque, and analysing the gas volume and pressure change process of accumulators.The results show that the actuator can accurately and quickly track the command signal under positive and negative loads by regulating the pump speed; when