Table 1 Nominal value of parameters
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 | – |