Pump-valve Coordinated Control of Robotic Arm Driven by Electro-hydraulic System

This paper introduces a pump-valve coordinated control of robotic arm driven by electro-hydraulic system. Firstly, the system architecture of electro-hydraulic robotic arm is presented, and the models of the pump control as well as valve control parts are established. Secondly, the mechanism of pump-valve coordinated control is proposed. Thirdly, in order to resist unforeseeable disturbances in the system, a second-order linear automatic disturbance rejection controller (LADRC) is designed for the valve control subsystem. Finally, verification experiments are carried out. The experimental results show that the power consumption of the pump valve coordinated control system is only 56% of that of the ordinary valve control system, and has better dynamic performance.