图5控制算法的实验结果，根据正弦曲线。活塞筒的位移。b定位误差5实验验

FIG 5 control algorithm experimental results, according to a sine curve. Displacement of the piston cylinder. b positioning error <br>5 experiments <br>a method using a hydraulic actuator piston, the control algorithm is studied. The sinusoidal displacement of the actuator piston from the initial state, the amplitude and yref actuator piston displacement cycle Tref, start setting occurs yref Fref and the pressure source. <br>In experimental studies, measurement signals from sensors: position yp (TMI 0250 Novotechnik), F force (kt1101 - k - 10knl -2410- d Megatron) as a continuous signal, then the signal digitally in a (y, F) discretization to register. The whole process of acquiring a signal from the sensor comprises a mechanical switch to the electrical signal from the magnitude of the study, i.e., the voltage proportional to the measured value. These data using the data acquisition card and a computer system and the measurement data is converted into a digital pattern [2]. FIG 5 PD controller uses an adaptive algorithm to select the frequency of the piston movement (0.16,0.48 and 1.59 Hz) curriculum adjustment process. Figure 6 shows the process of adjusting force of the adjustment process, the PI controller using an adaptive algorithm selected frequency pressure extortion carried out. Correct operation of the control system for the performance of the force pulsation relatively mild (up to 3 rad / s). In the case of a high frequency, to maintain a certain force is a degradation.

Figure 5 controls the experimental results of the algorithm, based on the sine curve. The displacement of the piston barrel. b Positioning error<br>5 Experimental verification<br>The control algorithm is studied by using the following methods of hydraulic actuator pistons. Depending on the displacement of the sine curve to the acting piston, starting from the initial state, the amplitude yref and Tref cycle displacement of the actuator piston begins to set the occurrence of yref and pressure source Fref.<br>In the experimental study, the measurement signal came from the sensor: position yp (TMI 0250 Novotechnik), F force (kt1101 - k - 10knl - 2410 - d Megatron) as a continuous signal, and then registered digitally after the signal (y, F) was dispersed. The entire process of obtaining a signal from the sensor involves a mechanical transition from the study signal to the electrical size, i.e. the voltage proportional to the measured value. Data that uses data acquisition cards and computer systems, as well as measurement data, will be converted into digital graphics. Figure 5 uses the PD controller adaptive algorithm to adjust the piston motion at select frequency (0.16, 0.48 and 1.59 Hz). Figure 6 shows the process of adjusting the adjustment force, using the adaptive algorithm of the controller PI to extort the pressure of the selected frequency. The correct operation of the control system force is characterized by relatively minor force pulsation (up to 3 rad/s). At high frequencies, maintaining a certain force is a degradation.

Fig. 5 experimental results of the control algorithm according to the sine curve. Displacement of the barrel. B positioning error<br>5 experimental verification<br>Using the following methods of hydraulic actuator piston, the control algorithm is studied. According to the displacement of the actuator piston by the sine curve, from the initial state, the amplitude YReF and Tref periodic displacement of the actuator piston start to set the occurrence of YReF and the pressure source Fref.<br>In the experimental study, the measurement signal comes from the sensor: position YP (TMI 0250 Novotechnik), f force (kt1101-k-10knl-2410-d Megatron) as the continuous signal, and then register in digital mode after the signal (y, f) is discretized. The whole process of obtaining the signal from the sensor includes the mechanical conversion from the research signal to the electrical size, that is, the voltage proportional to the measured value. These data using data acquisition cards and computer systems, as well as measurement data, will be converted to digital graphics [2]. Fig. 5 the course of adjusting the selection frequency (0.16, 0.48 and 1.59 Hz) of piston motion by using PD controller adaptive algorithm. Figure 6 shows the process of adjusting the force. The adaptive algorithm of controller Pi is used to blackmail the pressure of the selected frequency. The correct operation of the control system force is shown as a relatively slight force fluctuation (up to 3 rad / s). In the case of high frequency, maintaining a certain force is a kind of degradation.