This example shows a backhoe arm with three hydraulic actuators. A PID controller attempts to follow reference angles for the boom, arm, and bucket. This model can be used to determine the mechanical requirements for the arm, size the hydraulic cylinders and valves, lay out the architecture of the hydraulic network, and design the controller.
Lift Actuator Subsystem
Simulation Results from Simscape Logging
The plot below shows the reference and measured angle for joints within the backhoe arm.
The plot below shows the pressure differentials in each hydraulic actuator.