Robust Position Control of Cylinder Using Hydraulic Transformer

Abstract

This paper studied the robust position control of cylinder using hydraulic transformer connected to constant pressure system. Based on the nominal model derived from mathematical model, the feedback type two-degree-of-freedom controller is designed and implemented. From simulation and experimental results, the disturbances including nonlinear friction torque, leakage flow and load force can be compensated and the good positioning accuracy is obtained. It shows that the proposed controller is effective.