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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