Angle and Force Hybrid Control Method for Electrohydraulic Leveling System with Independent Metering

Table 1

The conversion relationship between the input and output values.

θa	Leveling conditions	Output value
>0	Clockwise leveling condition	us1 = 1
		us2 = 0
		u1 = uin1
		u2 = uout2
		u3 = uout1
		u4 = uin2
<0	Counterclockwise leveling condition	us1 = 0
		us2 = 1
		u1 = uout2
		u2 = uin2
		u3 = uin1
		u4 = uout2
=0	Horizontal condition	us1 = 0
		us2 = 0
		u1 = 0
		u2 = 0
		u3 = 0
		u4 = 0