Energy-Efficient Robust Control for Direct Drive and Energy Recuperation Hydraulic Servo System

Table 3

Parameters of the system.

Variables	Description	Value	Unit
	Effective area of the piston chamber
	Effective area of the rod chamber
	Effective area of the energy storage chamber
	Piston stroke of the actuator
	Coefficient of viscous damping
	Stiffness of the environment
	Gravity of the mass load
	Elasticity modulus of the oil
	Density of the oil
	Total volume of the hydraulic accumulator
	Gas exponent		—
	Minimum working pressure of the hydraulic accumulator
	Maximum working pressure of the hydraulic accumulator
	Precharge pressure of the hydraulic accumulator
	Pressure margin of the VSPC	0.5
	Control gain 1	400	—
	Control gain 2	400	—
	Control gain 3	400	—
	Control gain 4	200	—
	Control gain 5	200	—