Research Article
Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme
Table 1
Specification of components for the EHA prototype.
| Specification | Value |
| Pump | | Type | Fixed displacement axial piston pump (bidirectional) | Number of pistons | 7 | Displacement | m3 | Maximum pressure | Pa | Motor | | Type | Brushless DC motor | DC link voltage | 270 V | Rated current | 52.4 Arms | Rated torque | 13.4 N·m | Max speed | 10,000 rpm | Power | 9 kW | Hydraulic cylinder | | Type | Double rod, double acting | Piston diameter | 0.108 m | Diameter of rod | 0.044 m | Length of stroke | 0.0650 m | Maximum pressure | Pa | Accumulator | | Acc. Type | Bladder | Gas precharge pressure | Pa | Accumulator volume | 0.7 L | Load mass | | Weight | 50 kg |
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