标题：Hydraulic Pan-tilt Servo Control System Based on Hydraulic Actuator Model
作者：Zhang, Kaihao; Rong, Xuewen; Yang, Kun; Li, Yibin; Chai, Hui
作者机构：[Zhang, Kaihao; Rong, Xuewen; Yang, Kun; Li, Yibin] Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China.; [Chai, Hui] Shandong U 更多
会议名称：Chinese Automation Congress (CAC)
会议日期：OCT 20-22, 2017
来源：2017 CHINESE AUTOMATION CONGRESS (CAC)
摘要：In order to achieve the unmanned live cleaning operation in the substation, and ensure the running trajectory and control precision fulfil requirements, a hydraulic pan-tilt control system based on hydraulic actuator model is designed. The pan tilt reaches a certain location with a certain speed is the main purpose of control. In this paper, the movement of the pan-tilt is based on the model of the hydraulic actuator and the position speed-position three loops controller. The experimental results show that the hydraulic servo control system has good accuracy, good reliability, good load-bearing capacity, fast response. It verifies the effectiveness of the control method.