Table 1 Experimental parameters.

Rated speed of the PMSM

2000 r/min

Maximum displacement of the VDPPM

250 mL/r

Rated power of the PMSM

116 kW

Maximum pressure of the VDPPM

28 MPa

Piston diameter of the boom cylinder

160 mm

Rod diameter of the boom cylinder

90 mm

Piston diameter of the driving cylinder and loading cylinder

120 mm

Rod diameter of the driving cylinder and loading cylinder

70 mm