Eliminating substantial energy dissipation and achieve precise tracking accuracy are both vital for the hydraulic actuated servo system, especially in the face of the global energy crisis and energy exhaustion. When an asymmetric hydraulic cylinder moves symmetrically back and forth, the pressure and flow in the two chambers differ a lot, resulting in huge energy loss. To reduce the throttle loss and overflow loss of the system simultaneously, a hydraulic servo system structure based on dual hydraulic accumulators is proposed in this paper. On the one hand, two hydraulic accumulators with different pressure levels can switch the supply pressure based on the motion direction of the hydraulic cylinder to reduce the throttle loss. On the other hand, the hydraulic accumulators can absorb the excess flow to reduce the overflow loss. In addition, an output feedback controller based on the desired compensation approach is proposed to guarantee the control performance. First, the pressure and velocity signals are replaced by their desired values to reformulate the state equation. Subsequently, the state variables and lumped disturbance are estimated by the low-pass filter-based observer. Compared with the conventional method, this method has the advantages of low noise interference, fewer control parameters and intuitive form. To validate the feasibility of the proposed strategy, the stability of the controller and the energy efficiency of the system are analyzed. The results indicate that the proposed method can significantly improve the system efficiency and ensure tracking accuracy simultaneously.

消除大量能量耗散和实现精确的跟踪精度对于液压驱动的伺服系统至关重要，尤其是在面对全球能源危机和能源枯竭的情况下。当非对称液压缸对称来回运动时，两腔内的压力和流量相差很大，造成巨大的能量损失。为了同时降低系统的节流损失和溢流损失，本文提出了一种基于双液压蓄能器的液压伺服系统结构。一方面，两个不同压力等级的蓄能器可以根据液压缸的运动方向切换供油压力，以减少节流损失。另一方面，液压蓄能器可以吸收多余的流量以减少溢流损失。此外，提出了一种基于期望补偿方法的输出反馈控制器，以保证控制性能。首先，压力和速度信号被它们的期望值替换以重新表述状态方程。随后，状态变量和集中扰动由基于低通滤波器的观测器估计。与常规方法相比，该方法具有噪声干扰小、控制参数少、形式直观等优点。为了验证所提出策略的可行性，分析了控制器的稳定性和系统的能量效率。结果表明，所提出的方法可以显着提高系统效率，同时保证跟踪精度。