Research on hybrid control of passive electro-hydraulic servo loading system

A hybrid control method for passive electro-hydraulic servo loading system was proposed based on new compensation structure and nonlinear PID controller. The new compensation scheme used loading motor output shaft angle displacement for the surplus torque feed-forward compensator, which can reduce the system order while effectively eliminated surplus torque. A nonlinear PID controller with regulatory factor was researched, which can overcome the contradiction of conventional PID controller in between rapidity and stability. The simulation and experimental results indicate that the hybrid controller has higher loading spectrum tracking accuracy.