Abstract Pump-controlled actuators generally use single-rod cylinders in order to provide high output forces and reduce the installation space. According to the working principle of such systems, there are four possible circuit configurations, corresponding to four operational quadrants. This paper presents the design and experimental validation of a robust, fixed-gain, linear position controller for a newly developed single-rod pump-controlled actuator, i.e., electro-hydrostatic actuator (EHA) that operates in all quadrants. The actuator operates under different loading, being subjected to an alternating resistive-assistive load force. The controller has been built upon the quantitative feedback theory (QFT), and is designed to satisfy tracking, stability and disturbance rejection specifications, considering a wide range of parametric uncertainties. The ability of the proposed controller to maintain the actuator position within acceptable response envelopes, has been examined with the aid of an instrumented John Deere JD-48 backhoe. The experimental results show that oscillations in position responses are not observed during quadrant switch up to a load mass of 367 kg.

中文翻译：

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在所有象限中运行的静液压非对称执行器的位置控制

摘要 泵控执行器一般采用单杆气缸，以提供高输出力和减少安装空间。根据此类系统的工作原理，有四种可能的电路配置，对应于四个操作象限。本文介绍了新开发的单杆泵控制执行器，即在所有象限中运行的电动静液执行器 (EHA) 的稳健、固定增益、线性位置控制器的设计和实验验证。执行器在不同的负载下运行，承受交替的电阻-辅助负载力。控制器建立在定量反馈理论 (QFT) 的基础上，旨在满足跟踪、稳定性和抗干扰规范，考虑到广泛的参数不确定性。已在配备仪表的约翰迪尔 JD-48 反铲的帮助下检查了建议的控制器将执行器位置保持在可接受的响应范围内的能力。实验结果表明，在高达 367 kg 的负载质量的象限切换期间未观察到位置响应的振荡。