The development of the disc cutter replacement manipulator requires an actuator with high power density and excellent positioning precision, typically, electro-hydrostatic actuator (EHA). However, the EHA is a pump-controlled hydraulic system that has a slower response in comparison with conventional centralized hydraulics. In this paper, a position-pressure feedback control (PPFC) method is proposed to improve the system response and position accuracy. Experimental verifications showed that the suggested control method can shorten the time delay by 70.08% in the direction of positive-load movement when compared with traditional position feedback control methods, and the presented EHA can reach a precision of 0.001 mm while moving a load of 1.5 t. This enables the actuator to follow higher frequency target trajectories under heavy load with high positioning accuracy. In order to achieve better automatic control, the PPFC strategy could be combined with other controllers such as adaptive controllers.

圆盘刀具更换机械手的开发需要具有高功率密度和出色定位精度的执行器，通常是静液压执行器（EHA）。然而，EHA 是一种泵控液压系统，与传统的集中式液压系统相比，响应速度较慢。在本文中，提出了一种位置压力反馈控制（PPFC）方法来提高系统响应和位置精度。实验验证表明，与传统的位置反馈控制方法相比，所提出的控制方法可以将正向负载运动方向的时间延迟缩短70.08%，并且所提出的EHA在移动1.5个负载时可以达到0.001 mm的精度。吨。这使执行器能够在重载下以高定位精度跟随更高频率的目标轨迹。为了实现更好的自动控制，PPFC 策略可以与自适应控制器等其他控制器相结合。