Table 1 Parameters
m | Equivalent inertia | 3.3 kgm\(^2\) |
\(K_{p}\) | Proportional gain | 100/s2 |
\(K_{v}\) | Derivative gain | 20/s |
\(K_{t}\) | Torque constant | 0.147 Nm/A |
\(g_d\) | Cut-off frequency of DOB | 20 rad/s |
St | Sampling period | 0.001 s |
a | Time constant ratio | 1.05 |
\(D_{1}\) | Displacement of pump | 3.08 cm\(^3\)/rev |
\(D_{2}\) | Displacement of motor | 371 cm\(^3\)/rev |
d | Quantization | 70 Nm |
\(T_{h1}\) | Threshold | 0.00223 rad/s |
\(T_{h2}\) | Threshold | 0.1 rad/s |
\(\eta _{tM}\) | Nominal torque efficiency | 1 |
\(\eta _{tL}\) | Nominal torque efficiency | 1 |