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Table 1 Nominal value of parameters

From: Modeling and Parameter Sensitivity Analysis of Valve-Controlled Helical Hydraulic Rotary Actuator System

Parameter Description Value Units
α1n = J1 Moment of inertia of the piston 8.368 × 10−4 kg·m2
α2n = J2 Moment of inertia of the output shaft 1.057 × 10−4 kg·m2
α3n = S1 Lead of G1 0.12 m
α4n = S2 Lead of G2 0.09 m
α5n = ψ1 Helix angle of G1 29.324 °
α6n = ψ2 Helix angle of G2 40.962 °
α7n = μ1 Dynamic friction coefficients of G1 0.005
α8n = μ2 Dynamic friction coefficients of G2 0.005
α9n = d1 Pitch diameter of G1 0.068 m
α10n = d2 Pitch diameter of G2 0.033 m
α11n = m1 Mass of piston 0.969 kg
α12n = Ap Effective action area of piston 3.951 × 10−3 m2
α13n = φ2max Maximum angle of output shaft 178.5 °
α14n = φ20 Initial angle of output shaft 14 °
α15n = βe Effective bulk modulus of system 6.85 × 108 N/ m2
α16n = Cip Internal leakage coefficient of actuator 3 × 10−14 m3/(s·Pa)
α17n = Kd Converted flow coefficient 4.95×10−4 \({\mathrm{m}}^{2}/(\mathrm{s}\sqrt{\mathrm{Pa}})\)
α18n = ps Supply pressure 18×106 Pa
α19n = p0 Return oil pressure 0.1×106 Pa
α20n = ω Natural frequency of valve 134 rad/s
α21n = ζ Damping ratio of valve 1.1
α22n = Kaxv Gain of valve 0.433 m/A
α23n = Kp Gain of P controller 0.001