Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

Table 1

Specification of components for the EHA prototype.

Specification	Value
Pump
Type	Fixed displacement axial piston pump (bidirectional)
Number of pistons	7
Displacement	5×10^−6 m^3
Maximum pressure	20.6×10^6 Pa
Motor
Type	Brushless DC motor
DC link voltage	270 V
Rated current	52.4 Arms
Rated torque	13.4 N·m
Max speed	10,000 rpm
Power	9 kW
Hydraulic cylinder
Type	Double rod, double acting
Piston diameter	0.108 m
Diameter of rod	0.044 m
Length of stroke	0.0650 m
Maximum pressure	20.6×10^6 Pa
Accumulator
Acc. Type	Bladder
Gas precharge pressure	0.49×10^6 Pa
Accumulator volume	0.7 L
Load mass
Weight	50 kg