dsp control of electro-hydraulic servo actuators

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Post on 09-Mar-2015

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www.ti.com www.ti.com www.ti.com www.ti.com DisplacementTransducerFlow ControlValveServoControllerLinear ActuatorLoadPositionDemandHydraulicPower Supply www.ti.com FvPaPbPsPrPTABXvQaQb www.ti.com www.ti.comSealsDirection of piston movementA BQbQaVaVbPaPb www.ti.com UrServoController+UpUvUeError Amplifierue+ur*up uv(t) +Kpue(t) )Kiue dt)Kdduedt www.ti.com www.ti.comI(s)V(s)+ 1sLc)Rc www.ti.comMv+ 12zv 1 *zv 2 QL+QRi:vx DPVDPR www.ti.com SQin *SQout +dVdt)VbdPdt PA+bV(QA*dVAdt )dt FP + (PA*PB) AP FP+MPd2xpdt2 )Ff)KLxp Ff + dxdt Fv0 ) sign dxdt Fc0 www.ti.comQA*KLa (PA*PB) *KLe PA +dVAdt )VAbdPAdt PS +bV1 Qpump * QLdt