Digital Hydraulic Technology for Linear Actuation: A State of the Art Review

Authors

DOI:

https://doi.org/10.13052/ijfp1439-9776.2125

Keywords:

State of the art, Digital hydraulics, Switching Valves, Multi-chamber cylinders

Abstract

This paper analyses the current state of the art in linear actuation with digital hydraulics. Based on the differences in their aims the paper partitions the area into four actuation concepts – parallel valve solutions, single switching valve solutions, multi-chamber cylinders, and multi-pressure cylinders. The concepts are evaluated based on accuracy and smoothness of motion, switching load, reliability, efficiency and the number of components required.

Downloads

Download data is not yet available.

Author Biographies

Viktor Hristov Donkov, Aalborg University

Viktor Hristov Donkov received M.Sc. in Mechatronic Control Engineering (2017) from Aalborg University (AAU), Denmark. Currently he is working towards a doctoral degree at the Energy Department of AAU. His main research interests are multi-chamber cylinders and model predictive control.

Torben Ole Andersen, Aalborg University

Torben Ole Andersen has been a Professor in the Department of Energy Technology, Aalborg University, since 2005, being the head of the section: Fluid Power and Mechatronic Systems. He has a Ph.D. in Control Engineering (1996), and a M.Sc. in Mechanical Engineering (1992), both from the Technical University of Denmark, DTU and a B.Sc. in Mechanical Engineering (1989) from the University of Southern Denmark, SDU. His research interests include control theory, energy usage and optimization of fluid power components and systems and mechatronic systems in general.

Matti Linjama, Tampere University, Tampere, Finland

Matti Linjama obtained a D Tech degree at Tampere University of Technology, Finland in 1998. Currently, he is an adjunct professor at the Automation Technology and Mechanical Engineering Unit, Tampere University. He started the study of digital hydraulics in 2000 and has focused on the topic since then. Currently, he is leader of the digital hydraulics research group and his professional interests include the study of hydraulic systems with high performance and energy efficiency.

Morten Kjeld Ebbesen, University of Agder, Grimstad, Norway

Morten Kjeld Ebbesen is affiliated with the Department of Engineering Sciences, University of Agder, Norway, as an associate professor in the Mechatronics group. He received his MSc (2003) and Ph.D. (2008) in mechanical engineering from the University of Aalborg, Denmark. His interests are dynamics, flexible multi-body systems, time-domain simulation, fluid power, and optimization.

References

M Sc Arto Laamanen and Matti Vilenius. Is it time for digital hydraulics. In The eighth Scandinavian international conference on fluid power, 2003.

Rudolf Scheidl, Matti Linjama, and Stefan Schmidt. Is the future of fluid power digital? Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 226(6):721–723, 2012.

Bernd Winkler. Recent advances in digital hydraulic components and applications. In Proc. of The Ninth Workshop on Digital Fluid Power, Aalborg, Denmark, 2017.

Valmet. Digital hydraulics, 2016. [Online]. Available: https://www.valmet.com/globalassets/media/downloads/whitepapers/process-improvements-and-parts/wppdigihydraulics.pdf

Matti Linjama. Digital fluid power: State of the art. In 12th Scandinavian International Conference on Fluid Power, Tampere, Finland, May, pages 18–20, 2011.

Matti LINJAMA, Kari T KOSKINEN, and Matti VILENIUS. Pseudo-proportional position control of water hydraulic cylinder using on/off valves. In Proceedings of the JFPS International Symposium on Fluid Power, volume 2002, pages 155–160. The Japan Fluid Power System Society, 2002.

Matti Linjama, Kari T Koskinen, and Matti Vilenius. Accurate trajectory tracking control of water hydraulic cylinder with non-ideal on/off valves. International Journal of Fluid Power, 4(1):7–16, 2003.

Matti Linjama, Mikko Huova, Pontus Boström, Arto Laamanen, Lauri Siivonen, Lionel Morel, Marina Waldèn, and Mati Vilenius. Design and implementation of energy saving digital hydraulic control system. In Proceedings of the 10th Scandinavian International Conference on Fluid Power, Tampere , Finland, 2007.

M Linjama and M Vilenius. Digital hydraulic control of a mobile machine joint actuator mockup. In Bath Workshop on Power Transmission and Motion Control, volume 2004, page 145. Professional Engineering Publishing, 2004.

Matti Linjama and M Vilenius. Improved digital hydraulic tracking control of water hydraulic cylinder drive. International Journal of Fluid Power, 6(1):29–39, 2005.

Matti Linjama and Matti Vilenius. Energy-efficient motion control of a digital hydraulic joint actuator. In Proceedings of the JFPS International Symposium on Fluid Power, volume 2005, pages 640–645. The Japan Fluid Power System Society, 2005.

L Siivonen, M Linjama, M Vilenius, and P Anttonen. Accurate flow control with digital valve system. In Proceedings of the 51st National Conference on Fluid Power March 12-14, 2008, IFPE 2008, Las Vegas, USA, 2008.

Matti Linjama. Robust control of digital hydraulic servo actuator.

Matti Linjama, Mikko Huova, and Kalevi Huhtala. Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve. International Journal of Fluid Power, 17(3):163–172, 2016.

Matti Linjama, Mikko Huova, Otso Karhu, and Kalevi Huhtaka. Energy efficient tracking control of a mobile machine boom mockup. In The Eight Workshop on Digital Fluid Power, Tampere, Finland, May, pages 268–278, 2016.

Matti Linjama, Mikko Huova, Otso Karhu, and Kalevi Huhtala. High-performance digital hydraulic tracking control of a mobile boom mockup. In The 10th International Conference on Fluid Power, Dresden, Germany, March, pages 37–48, 2016.

Matti Linjama. On the numerical solution of steady-state equations of digital hydraulic valve-actuator system. In The Eight Workshop on Digital Fluid Power, Tampere, Finland, May, pages 144–155, 2016.

Matti Linjama and Mikko Huova. Numerically efficient flow model for on/off valves. In The Seventh Workshop on Digital Fluid Power, Linz, Austria, February, pages 164–172, 2015.

C Stauch, J Rudolph, and F Schulz. Some aspects of modelling, dimensioning, and control of digital flow control units. In Proc. 7th Workshop on Digital Fluid Power, DFP15, Linz, Austria, pages 101–113, 2015.

Christian Stauch and Joachim Rudolph. Control-oriented modelling and development of a model-based switching algorithm for a digital hydraulic independent metering cylinder drive. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, page 0959651816629315, 2016.

Mikko Huova, Miika Ahopelto, Ville Ahola, Matti Linjama, and Kalevi Huhtala. Characteristics of digital hydraulics with commercial controllers. In The Seventh Workshop on Digital Fluid Power, Linz, Austria, February, pages 114–128, 2015.

Johan Ersfolk, Pontus Bostrlöm, Ville Timonen, Jam Westerholm, Jonatan Wiik, Otso Karhu, Matti Linjama, and MarinaWaldèn. Optimal digital valve control using embedded gpu. In The Eight Workshop on Digital Fluid Power, Tampere, Finland, May, pages 239–250, 2016.

Miikka Ketonen and Matti Linjama. High flowrate digital hydraulic valve system. In Proc. of The Ninth Workshop on Digital Fluid Power, Aalborg, Denmark, 2017.

Miikka Ketonen and Matti Linjama. Simulation study of a digital hydraulic independent metering valve system on an excavator. In Proceedings of 15th Scandinavian International Conference on Fluid Power, June 7–9, 2017, Linköping, Sweden, number 144, pages 136–146. Linköping University Electronic Press, 2017.

Miikka Ketonen and Matti Linjama. Digital hydraulic imv system in an excavator–first results.

M Huova and A Plöckinger. Improving resolution of digital hydraulic valve system by utilizing fast switching valves. In: Laamanen, A. & Linjama, M.(eds.). Proceedings of the Third Workshop on Digital Fluid Power, October 13–14 2010, Tampere, Finland, 2010.

M Paloniitty, M Linjama, and K Huhtala. Equal coded digital hydraulic valve system-improving tracking control with pulse frequency modulation. Procedia Engineering, 106:83–91, 2015.

Miika Paloniitty and Matti Linjama. High-linear digital hydraulic valve control by an equal coded valve system and novel switching schemes. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 232(3):258–269, 2018.

Lauri Siivonen, Miika Paloniitty, Matti Linjama, Harri Sairiala, and Salvador Esqué. Digital valve system for iter remote handling–design and prototype testing. Fusion Engineering and Design, 2019.

Lauri Siivonen, Matti Linjama, Mikko Huova, and Matti Vilenius. Pressure based fault detection and diagnosis of a digital valve system. Power Transmission and Motion Control (PTMC 07), pages 67–79, 2007.

A. Laamanen, M. Linjama, and M. Vilenius. On the pressure peak minimization in digital hydraulics, pages 107–121. Tampere University of Technology, 2007. Contribution: organisation=iha, FACT1=1.

Lauri Siivonen, Matti Linjama, Mikko Huova, and Matti Vilenius. Jammed on/off valve fault compensation with distributed digital valve system. International Journal of Fluid Power, 10(2):73–82, 2009.

T Laehteenmaeki, M Ijas, and E Mäkinen. Characteristics of digital hydraulic pressure reducing valve. In: Johnston, DN & Plummer, A.(eds.). Fluid Power and Motion Control (FPMC 2010), 15–17 September 2010, University of Bath, UK, 2010.

M. Ketonen, M. Huova, M. Heikkilä, M. Linjama, P. Boström, and M. Wald’en. Digital hydraulic pressure relief function. In ASME/BATH 2012 Symposium on Fluid Power and Motion Control, pages 138–151. American Society of Mechanical Engineers, 2012.

Mikko Huova, Matti Linjama, Lauri Siivonen, Till Deubel, Heino Försterling, and Edgar Stamm. Novel fine positioning method for hydraulic drives utilizing on/off-valves. In BATH/ASME 2018 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers Digital Collection, 2018.

Christoph Gradl and Rudolf Scheidl. A basic study on the response dynamics of pulsefrequency controlled digital hydraulic drives. In ASME/BATH 2013 Symposium on Fluid Power and Motion Control, pages V001T01A022–V001T01A022. American Society of Mechanical Engineers, 2013.

Sojiro Tsuchiya, Hironao Yamada, and Takayoshi Muto. A precision driving system composed of a hydraulic cylinder and high-speed on/off valves. International Journal of Fluid Power, 2(1):7–16, 2001.

Andreas Plöckinger, Mikke Huova, and Rudolf Scheidl. Simulation and experimental results of pwm control for digital hydraulics. In Proceedings of The Fifth Workshop on Digital Fluid Power, Tampere. The Digital Fluid Power Workshop series, 2012.

Marko Šimic and Herakovič. High-response hydraulic linear drive with integrated motion Sensor and digital valve control. In The 10th International Conference on Fluid Power, Dresden, Germany, March, pages 49–58, 2016.

Helmut Kogler, Rudolf Scheidl, Michael Ehrentraut, Emanuele Guglielmino, Claudio Semini, and Darwin G Caldwell. A compact hydraulic switching converter for robotic applications. Proc. Fluid Power and Motion Control, September, Bath, pages 55–66, 2010.

Helmut Kogler and Rudolf Scheidl. Linear motion control with a low-power hydraulic switching converter-part i: Concept, test rig, simulations. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 229(8):677–684, 2015.

Helmut Kogler and Rudolf Scheidl. Linear motion control with a low-power hydraulic switching converter-part ii: Flatness-based control. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 229(9):818– 828, 2015.

Helmut Kogler and Rudolf Scheidl. Energy efficient linear drive axis using a hydraulic switching converter. Journal of Dynamic Systems, Measurement, and Control, 138(9):091010, 2016.

Rudolf Scheidl, Bernd Winkler, Helmut Kogler, Peter Ladner, Rainer Haas, and Evgeny Lukachev. Digital fluid technologies for the steel industry. BHM Berg-und Hüttenmännische Monatshefte, 161(11):504–509, 2016.

Christoph Gradl and Rudolf Scheidl. Performance of an energy efficient low power stepper converter. Energies, 10(4):445, 2017.

Evgeny Lukachev and Rudolf Scheidl. Hydraulic switching type position control of a large cylinder drive. In 2018 Global Fluid Power Society PhD Symposium (GFPS), pages 1–6. IEEE, 2018.

Helmut Kogler, Markus Schöberl, and Rudolf Scheidl. Passivity-based control of a pulse-width mode operated digital hydraulic drive. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 233(6):656–665, 2019.

Helmut Kogler, Rudolf Scheidl, and Michael Ehrentraut. A simulation model of a hydraulic buck converter based on a mixed time frequency domain iteration. In ASME/BATH 2013 Symposium on Fluid Power and Motion Control, pages V001T01A006–V001T01A006. American Society of Mechanical Engineers, 2013.

Victor J De Negri, Pengfei Wang, Andrew Plummer, and D Nigel Johnston. Behavioural prediction of hydraulic step-up switching converters. International journal of fluid power, 15(1):1–9, 2014.

Marcos P Nostrani, Alessio Galloni, Henrique Raduenz, and Victor J De Negri. Design and optimization of a fast switching hydraulic step-down converter for position and speed control. In Proceedings of 15: th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden, number 144, pages 361–369. Linköping University Electronic Press, 2017.

Victor J De Negri, Marcos P Nostrani, Pengfei Wang, D Nigel Johnston, and Andrew Plummer. Modelling and analysis of hydraulic step-down switching converters. International Journal of Fluid Power, 16(2):111–121, 2015.

Marcos Nostrani, Alessio Galloni, Henrique Raduenz, and Victor De Negri. Theoretical and experimental analysis of a hydraulic step-down switching converter for position and speed control. In The Eight Workshop on Digital Fluid Power, Tampere, Finland, May, pages 157–175, 2016.

Rudolf Scheidl, Bernd Winkler, and Andreas Plöckinger. Digital fluid power in the 7th year of dfp workshops. In The Seventh Workshop on Digital Fluid Power, pages 4–8. The Digital Fluid Power Workshop series, 2015.

Min Pan, D Nigel Johnston, Andrew Plummer, Sylwester Kudzma, and Andrew Hillis. Active control of pressure pulsation in a piping system using measured dynamic flow rate. In ASME/BATH 2013 Symposium on Fluid Power and Motion Control, pages V001T01A013–V001T01A013. American Society of Mechanical Engineers, 2013.

Min Pan, Nigel Johnston, and Andrew Hillis. Active control of pressure pulsation in a switched inertance hydraulic system. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 227(7):610–620, 2013.

Helmut Kogler, Rudolf Scheidl, and Bernd Hans Schmidt. Analysis of wave propagation effects in transmission lines due to digital valve switching. In ASME/BATH 2015 Symposium on Fluid Power and Motion Control, pages V001T01A057–V001T01A057. American Society of Mechanical Engineers, 2015.

Shuang Peng. The concept of a zero-flowrate-switching controller. In The Eight Workshop on Digital Fluid Power, Tampere, Finland, May, pages 187–199, 2016.

Mikko Huova, Arttu Aalto, Matti Linjama, Kalevi Huhtala, Tapio Lantela, and Matti Pietola. Digital hydraulic multi-pressure actuator–the concept, simulation study and first experimental results. International Journal of Fluid Power, pages 1–12, 2017.

Peter Dengler, Marcus Geimer, and René von Dombrowski. Deterministic control strategy for a hybrid hydraulic system with intermediate pressure line. In ASME/BATH 2012 Symposium on Fluid Power and Motion Control, pages 334–347. American Society of Mechanical Engineers, 2012.

C Stauch, F Schulz, P Bruck, J Rudolph, and Gewerbepark Eschberger Weg. Energy recovery using a digital piston-type accumulator. In Proceedings of the Fifth Workshop on Digital Fluid Power. Tampere: Tampere University of Technology, pages 57–73, 2012.

Niels Henrik Pedersen, Sören Christian Jensen, Rico Hjerm Hansen, Anders Hedegaard Hansen, and Torben Ole Andersen. Control of an energy efficient hydraulic cylinder drive with multiple pressure lines. 2018.

Matti Linjama, Mikko Huova, Matti Pietola, Jyri Juhala, and Kalevi Huhtala. Hydraulic hybrid actuator: Theoretical aspects and solution alternatives. In Proceedings of the 14th Scandinavian International Conference on Fluid Power SICFP, volume 15, pages 20–22, 2015.

H. Hänninen, J. Kajaste, and M. Pietola. Optimizing hydraulic energy recovery system of reach truck. In ASME/BATH 2012 Symposium on Fluid Power and Motion Control, pages 110–122. American Society of Mechanical Engineers, 2012.

Mikko Huova, Arttu Aalto, Matti Linjama, and Kalevi Huhtala. Study of energy losses in digital hydraulic multi-pressure actuator. In Proceedings of 15th Scandinavian International Conference on Fluid Power, June 7-9, 2017, Linköping, Sweden, number 144, pages 214–223. Linköping University Electronic Press, 2017.

Matti Linjama and Mikko Huova. Model-based force and position tracking control of a multi-pressure hydraulic cylinder. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 232(3):324–335, 2018.

Adj Prof Matti Linjama, Tech Mikko Huova, M Sc Jyrki Tammisto, Tech Mikko Heikkilä, Seppo Tikkanen, Tech Jyrki Kajaste, Tech Miika Paloniitty, and Matti Pietola. Hydraulic hybrid working machines project–lessons learned.

Matti Linjama, HP Vihtanen, Ari Sipola, and Matti Vilenius. Secondary controlled multichamber hydraulic cylinder. In The 11th Scandinavian International Conference on Fluid Power, SICFP, volume 9, pages 2–4, 2009.

Mikko Huova, Arto Laamanen, and Matti Linjama. Energy efficiency of three-chamber cylinder with digital valve system. International Journal of Fluid Power, 11(3):15–22, 2010.

Anders Hedegaard Hansen, Rico Hjerm Hansen, and Henrik C Pedersen. Optimisation of working areas in discrete hydraulic power take off-system for wave energy converters. In Proceedings of the 5th Workshop on Digital Fluid Power. Tampere University of Technology, 2012.

Henri C Belan, Cristiano C Locateli, Birgitta Lantto, Petter Krus, and Viktor J De Negri. Digital secondary control architecture for aircraft application. In Proc. 7th Workshop on Digital Fluid Power, DFP15, Linz, Austria, pages 22–40, 2015.

Karl Pettersson, Kim Heybroek, Per Mattsson, and Petter Krus. A novel hydromechanical hybrid motion system for construction machines. International Journal of Fluid Power, 18(1):17–28, 2017.

Kim Heybroek, Erik Norlin, and A Sipola. Hydraulic multi-chamber cylinders in construction machinery. In Hydraulikdagarna, March 16-17, 2015, 2015.

Kim Heybroek and Johan Sjöberg. Model predictive control of a hydraulic multichamber actuator: A feasibility study. IEEE/ASME Transactions on Mechatronics, 23(3):1393–1403, 2018.

Rico H Hansen, Torben O Andersen, and Henrik C Perdersen. Analysis of discrete pressure level systems for wave energy converters. In Fluid Power and Mechatronics (FPM), 2011 International Conference on, pages 552–558. IEEE, 2011.

Rico H Hansen, Anders Hansen, and Torben O Andersen. Influence and utilisation of pressure propagation in pipelines for secondary controlled discrete displacement cylinders. In Applied Mechanics and Materials, volume 233, pages 72–75. Trans Tech Publ, 2012.

Rico Hjerm Hansen, Torben Ole Andersen, and Henrik C Pedersen. Determining required valve performance for discrete control of pto cylinders for wave energy. 2012.

Rico H Hansen, Anders Hansen, and Torben O Andersen. Simulation of utilisation of pressure propagation for increased efficiency of secondary controlled discrete displacement cylinders. In Applied Mechanics and Materials, volume 233, pages 3–6. Trans Tech Publ, 2012.

Rico H Hansen, Morten M Kramer, and Enrique Vidal. Discrete displacement hydraulic power take-off system for the wavestar wave energy converter. Energies, 6(8):4001–4044, 2013.

Rico H Hansen, Torben O Andersen, Henrik C Pedersen, and Anders H Hansen. Control of a 420 kn discrete displacement cylinder drive for the wavestar wave energy converter. In ASME/BATH 2014 Symposium on Fluid Power and Motion Control, pages V001T01A021–V001T01A021. American Society of Mechanical Engineers, 2014.

Anders Hedegaard Hansen and Henrik C Pedersen. Energy cost of avoiding pressure oscillations in a discrete fluid power force system. In ASME/BATH 2015 Symposium on Fluid Power and Motion Control, pages V001T01A044–V001T01A044. American Society of Mechanical Engineers, 2015.

Anders Hansen and Henrik Pedersen. Reducing fatigue loading due to pressure shift in discrete fluid power force systems. In 9th FPNI Ph. D. Symposium on Fluid Power, pages V001T01A002–V001T01A002. American Society of Mechanical Engineers, 2016.

Alessandro DellAmico, Marcus Carlsson, Erik Norlin, and Magnus Sethson. Investigation of a digital hydraulic actuation system on an excavator arm. In 13th Scandinavian International Conference on Fluid Power; June 3-5; 2013; Linköping; Sweden, number 092, pages 505–511. Linköping University Electronic Press, 2013.

Olli Niemi-Pynttäri, Matti Linjama, Arto Laamanen, and Kalevi Huhtala. Parallel pump-controlled multi-chamber cylinder. In ASME/BATH 2014 Symposium on Fluid Power and Motion Control, pages V001T01A014–V001T01A014. American Society of Mechanical Engineers, 2014.

Anders H Hansen, Magnus F Asmussen, and Michael M Bech. Energy optimal tracking control with discrete fluid power systems using model predictive control. In Proceedings of the Ninth Workshop on Digital Fluid Power, Aalborg, Denmark, pages 7–8, 2017.

Viktor Donkov, Torben Ole Andersen, Morten Kjeld Ebbesen, and Henrik Clemmensen Pedersen. Applying digital hydraulic technology on a knuckle boom crane. In The Ninth Workshop on Digital Fluid Power, 2017.

Anders Hedegaard Hansen, Magnus F Asmussen, and Michael M Bech. Model predictive control of a wave energy converter with discrete fluid power power take-off system. Energies, 11(3):635, 2018.

Viktor Hristov Donkov, Torben Ole Andersen, Henrik Clemmensen Pedersen, and Morten Kjeld Ebbesen. Application of model predictive control in discrete displacement cylinders to drive a knuckle boom crane. In 2018 Global Fluid Power Society PhD Symposium (GFPS), pages 408–413. IEEE, 2018.

Anders H Hansen, Magnus F Asmussen, and Torben O Andersen. Valve shifting time in a digital fluid power system-energy efficiency versus fatigue loading. In Proceedings of the 6th International Conference on Control, Mechatronics and Automation, pages 128–132. ACM, 2018.

Anders H Hansen, Magnus F Asmussen, and Michael M Bech. Hardware-in-the-loop validation of model predictive control of a discrete fluid power power take-off system for wave energy converters. Energies, 12(19):3668, 2019.

Viktor Donkov, Torben Andersen, Morten Kjeld Ebbesen, Matti Linjama, and Miika Paloniitty. Investigation of the fault tolerance of digital hydraulic cylinders. In the Sixteenth Scandinavian Conference on fluid power, Tampere, Finland, 2019

Eva Holl, Rudolf Scheidl, and Sulaymon Eshkabilov. Simulation study of a digital hydraulic drive for a knee joint exoskeleton. In ASME/BATH 2017 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers Digital Collection, 2017.

Rudolf Scheidl and Simon Mittlböck. A hydraulic piloting concept of a digital cylinder drive for exoskeletons. In BATH/ASME 2018 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers Digital Collection, 2018.

Hermann Mehling and Daniel Weiler. Digital hydraulics valve stage, October 13 2015. US Patent 9,157,461.

Downloads

Published

2020-12-04

How to Cite

Donkov, V. H. ., Andersen, T., Linjama, M., & Ebbesen, M. (2020). Digital Hydraulic Technology for Linear Actuation: A State of the Art Review. International Journal of Fluid Power, 21(2), 263–304. https://doi.org/10.13052/ijfp1439-9776.2125

Issue

Section

Original Article

Most read articles by the same author(s)

1 2 > >>