An Energy-Saving Output Feedback Control of Single-Rod Electrohydraulic Servo System with Disturbance Observer

Table 1

Single-rod electrohydraulic system parameters.

Parameters	Description	Value	Units
A1	Effective area of the piston chamber	1.9625 × 10^−3	m^2
Α2	Effective area of the rod chamber	9.4514 × 10^−4	m^2
Ps	Supply pressure	5 × 10^6	Pa
Pr	Tank pressure	0	Pa
V01	Initial volumes of piston chamber	3.9 × 10^−4	m^−3
V02	Initial volumes of rod chamber	1.9 × 10^−4	m^−3
βe	Effective hydraulic fluid bulk modulus	10^9	Pa
Ct	Total leakage coefficient of chambers	9.2 × 10^−13	m^5/(N·s)
m	Equivalent mass of the load	80	kg
b	Damping coefficient	3000	N·s/m
ksv	Voltage flow gain of PDV	7.245 × 10^−8	m^3/(V·s·Pa^1/2)
krv	Pressure gain of PRV	2.1	MPa/V