The Velocity Synchronizing Control on the Electro-Hydraulic Load Simulator

This paper builds up an accurate nonlinear mathematical model of an electro-hydraulic force/torque servo control system, and provides a thorough theoretical analysis on the feedforward compensation for extraneous force/torque, whose limitation is analyzed and revealed. The nonlinear factors and the servo valve dynamics have much influence on the system characteristics. Subsequently a velocity synchronizing-compensation method by using the control signal of the control actuator is proposed, which can reduce the lagging effects for the better performance. For the reason of similarity between the model of control actuator and that of the load simulator, the proposed method performs well against the influence of nonlinear factors. The simulations and the experiments confirm that this control scheme results in a quick response, robustness, and excellent ability against disturbance.