Table 2 Main parameters of the hydraulic system.
From: Control methodology of synchronous lifting for the dual forging manipulator at clamping condition
Symbol | Parameter | Value | Unit |
|---|---|---|---|
Ps | System pressure | 2 × 107 | Pa |
PT | Return pressure | 3 × 105 | Pa |
βe | Oil bulk modulus | 1.5 × 109 | Pa |
ρ | Oil density | 878 | kg/m3 |
wsvl | The natural frequency of proportional valve of manipulator A | 345 | rad/s |
ζsvl | The damping ratio of the proportional valve of manipulator A | 0.84 | – |
wsv2 | The natural frequency of proportional valve of manipulator B | 100 | rad/s |
ζsv2 | The damping ratio of the proportional valve of manipulator B | 0.86 | – |
δ1 | The dead zone of the proportional valve of manipulator A | 0 | – |
δ2 | The dead zone of the proportional valve of manipulator B | 0.15 | – |
