Hybrid control on the electro-hydraulic load simulator

The extraneous force (or torque) is not only related to velocity but also to accelerator. These two quantities are introduced as the feedforward reference to eliminate the extraneous force. The position synchronizing method is studied and then a speed synchronizing schema is suggested based on the actuator control variable. Subsequently a hybrid control method is put forward, in which feedforward and speed feedback technology is adopted, which is benefit for the quick response and system steady. The simulation and experiments prove that this schema results in a quick response, robustness, and excellent ability against disturbance.