Hydraulic related question

1:My Company robot product in the running progress,
the pressure differential is always changing.So the same volt setpoint,
May be the different flow。
HOW Rmc150 Solute that? always change gains, or else?

2:The hydralic system have dead time. When i give the step value ,about
Period of time the machine just move. HOW Rmc150 Solute that?

3:The hydralic system have friction,HOW Rmc150 Solute that?
4:Temperature hydraulic oil Temperature Impact on the system

my company servo hydralic robot pic

my company servo hydralic robot pic

1:My Company robot product in the running progress,
the pressure differential is always changing.So the same volt setpoint,
May be the different flow。
HOW Rmc150 Solute that? always change gains, or else?

Proportional servo valve accessories pressure compensator(
e.g. Rexroth sca25) can solve it?or use the rmc150 can Solute that,not use pressure compensator?
In many treatise refer to pressure compensator
re29231_2011-09.pdf (820 KB)

I don’t think the pressure compensator is made to work in a system with a motion controller. If the system pressure varies only a bit, then the PID can compensate for it. If it varies a lot, gain scheduling can be used.

Is the system delay because the valve has an overlapped spool, or because the cylinder is far from the valve? If it is only because the valve is far away, then it is possible that tuning using higher-order gains may help.

Friction is not necessarily a problem in itself, but if is combined with a delay, then it can cause control difficulties.

thank you for your reply。
about "4:Temperature of hydraulic oil have an impact on the system“

deltamotion how to solve this problem?

in 0℃ and 40℃,the big difference in system responsiveness。

Some people think 30 `50 ° is the optimum temperature, Is it right?

To deal with varying oil temperature, you can simply tune the system and test it at both temperatures. It if doesn’t work, try again. It may be possible to do gain scheduling if you can report the temperature to the RMC, but usually gain scheduling is not necessary.

I think that is about right on the temperature. Oil can begin to degrade if the temperature is too high.