Research Article
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 | — |
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