Abstract
In order to achieve the unmanned live cleaning operation in the substation, and ensure the running trajectory and control precision fulfil requirements, a hydraulic pan-tilt control system based on hydraulic actuator model is designed. The pantilt reaches a certain location with a certain speed is the main purpose of control. In this paper, the movement of the pan-tilt is based on the model of the hydraulic actuator and the positionspeed-position three loops controller. The experimental results show that the hydraulic servo control system has good accuracy, good reliability, good load-bearing capacity, fast response. It verifies the effectiveness of the control method.
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