The hydraulic actuation of multi-body structures through large scale motions. Part 1: Development and validation of system model

Modern engineering design is leading towards structures that are complex and lightweight. These structures often contain flexible and rigid components actuated through large displacements by a non-linear hydraulic system. Due to the increased system complexities, there is a need to define structural models that can be easily coupled to models of the hydraulic system for use in the design of suitable controllers. The current paper develops a modular system model composed of rigid and flexible structural components coupled directly to a non-linear hydraulic system. The resulting model allows for changes to be made to the hydraulic and structural components in an independent manner such that the entire system may be incorporated in a single simulation domain. A structural damping matrix is introduced that allows a control system designer to assign realistic modal damping ratios to well established modes, and higher damping to modes with significant uncertainty. This allows for increased steady-state accuracy and model run-time efficiency, which is beneficial to the controller design process presented in Part 2. The system modelling approach is applied to a hydraulically actuated experimental rig for validation purposes.