The identification of dynamics of hydraulic servo system for remote cutting

摘要

For securing foundation technique of multi-axis hydraulic robot arm control, this paper deals with remote control of single hydraulic servo system. Identification of dynamics of single rod hydraulic servo system has done for control of position control of hydraulic cylinder. The unknown parameters of the linear element could be estimated by comparing the Bode plots of system's impulse response with them of model's response. However it is difficult to apply impulse response to real system. The dynamics is identified by applying signal compression method. After estimating unknown parameters, the response of the identified model from simulation is compared with the response from the real system. The estimated parameter of this paper will be used in control of multi-channel hydraulic servo system with sliding mode control with sliding perturbation observer(SMCSPO).