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This paper describes the full- and reduced-order models of an actuatedhydraulic cylinder suitable for system dynamics analysis and motion controldesign. The full-order model incorporates the valve spool dynamics withcombined dead-zone and saturation nonlinearities - inherent for the orificeflow. It includes the continuity equations of hydraulic circuits coupled withthe dynamics of mechanical part of cylinder drive. The resulted model is thefifth-order and nonlinear in states. The reduced model neglects the fast valvespool dynamics, simplifies both the orifice and continuity equations through anaggregation, and considers the cylinder rod velocity as output of interest. Thereduced model is second-order that facilitates studying the system behavior andallows for direct phase plane analysis. Dynamics properties are addressed indetails, for both models, with focus on the frequency response, system damping,and state trajectories related to the load pressure and relative velocity.

Full- and Reduced-order Model of Hydraulic Cylinder for Motion Control