Abstract

This paper presents an analysis of a positional servomechanism of very high performance. This control employs an electronic error transducer which actuates a pilot valve by means of an amplifier and a torque motor to position a hydraulic cylinder. The control was to have a frequency response whose amplitude ratio was nearly 1 to 200 cycles per sec (cps) at an amplitude of 0.001 in. with 100-lb dry friction and a load mass of 200 lb. These specifications were exceeded by the control described herein. The optimum open-loop gain and the closed-loop frequency response are determined by linearizing the system equations and using Laplace transform methods. The system also was analyzed by solving the nonlinear equations on an electronic analog computer to determine optimum gain, transient response, and frequency response. A comparison of the results indicates that for input signals which cause the control to operate outside the region in which the linearizing assumptions apply, the linear analysis still gives results which agree with those of the nonlinear analysis within a factor of three.

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